Automatic Couplings with Mechanical Overload Protection for Modular Robots
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Despite great efforts in designing legged robots, we are still far from the adaptivity, efficiency and robustness with which animals can move. Observations from successful biomimetic designs highlight the significant role of clever morphological design in ...
Strategies for hybrid locomotion such as jumping and gliding are used in nature by many different animals for traveling over rough terrain. This combination of locomotion modes also allows small robots to overcome relatively large obstacles at a minimal en ...
The work of this thesis centers around the research subject of distributed robotic search. Within the field of distributed robotic systems, a task of particular interest is attempting to locate one or more targets in a possibly unknown environment. While n ...
Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using unsupervised learning techniques which allow robots to evolve their own controllers online in an automated fashion. In mult ...
Miniaturisation will be the key challenge for the next decade in numerous industrial fields, such as microelectronics, optics and biomedical engineering. Although most of their products already achieve footprints of some square millimeters, the trend towar ...
To date, most modular robotic systems lack flexibility when increasing the number of modules due to their hard building blocks and rigid connection mechanisms. In order to improve adaptation to environmental changes, softness on the module level might be b ...
Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degree ...
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This paper presents the latest advances we made in static and dynamic locomotion with our compliant quadrupedal robot StarlETH. It summarizes the robot design and outlines the different underlying control principles used to achieve sophisticated locomotion ...
This article addresses the problem of how modular robotics systems, i.e. systems composed of multiple modules that can be configured into different robotic structures, can learn to locomote. In particular, we tackle the problems of online learning, that is ...
We compare six different algorithms for localizing odor sources with mobile robots. Three algorithms are bio-inspired and mimic the behavior of insects when exposed to airborne pheromones. Two algorithms are based on probability and information theory, and ...
