An autonomous untethered fast soft robotic insect driven by low-voltage dielectric elastomer actuators
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In this thesis our research goal is to develop, study and demonstrate multifunctional multi-robot systems in mesoscale. Particularly, our goal is to study and demonstrate terrestrial multi-locomotion and collective behaviours with mesoscale robots, similar ...
Humans have a remarkable way of learning, adapting and mastering new manipulation
tasks. With the current advances in Machine Learning (ML), the promise of having
robots with such capabilities seems to be on the cusp of reality. Transferring human-level
sk ...
The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly circumvented by us ...
Modular robots (MRs) consist of similar modules that can be configured into different shapes. MRs introduce a number of benefits over conventional robots specifically designed for a task. Self-reconfigurable modular robots (SRMRs) are a sub-category of MRs ...
Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified
or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common
benchmark can be found. Further, it is unclear, what minimal leve ...
Continual developments in robotic technology have enabled the use of robots in everyday applications in domestic, office and public spaces. Although single robot problems have been the main focus of social robotics research, applications of robots in socia ...
Soft actuators provide highly adaptable actuator options for applications in wearable devices, grippers and mobile robots due to their inherent compliance. However, this compliance causes soft actuators to have virtually infinite degrees of freedom (DoF) o ...
Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...
Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they ...
With the never slowing interest in dielectric electroactive polymer (DEAP) actuators for medical applications, the need to optimize the management of the driving energy of these actuators becomes evermore important. In order to tackle the problematic of th ...