Design principles for soft-rigid hybrid manipulators
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Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...
As the field of robotics continues to grow outside the manufacturing environment into our daily lives, the interactions between humans and robots are increasingly becoming close and dynamic. This type of environment requires robots to be less rigid, multi- ...
Novel technologies, fabrication methods, controllers and computational methods are rapidly advancing the capabilities of soft robotics. This is creating the need for design techniques and methodologies that are suited for the multi-disciplinary nature of s ...
Adaptability and ease of programming are key features necessary for a wider spread of robotics in factories and everyday assistance. Learning from demonstration (LfD) is an approach to address this problem. It aims to develop algorithms and interfaces such ...
Robotic systems are becoming more and more pervasive in modern industrial, scientific and personal activities through recent years and will play a fundamental role in the future society. Despite their increasing level of automation, teleoperation is still ...
EPFL2021
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The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) ...
This paper describes a novel approach to learn an implicit, differentiable distance function for arbitrary configurations of a robotic manipulator used for reactive control. By exploiting GPU processing, we efficiently query the learned collision represent ...
Many problems in robotics are fundamentally problems of geometry, which have led to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie algebra, and d ...
When the question of who should get access to a communal resource first is uncertain, people often negotiate via nonverbal communication to resolve the conflict. What should a robot be programmed to do when such conflicts arise in Human-Robot Interaction? ...
While reconfigurable robots provide a new promising approach for interactive systems, the complexity of distributed actuation/sensing systems, coupled kinematics and desired functionalities also bring new challenges and questions both in control design and ...
