Publication
Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control
Publications associées (41)
Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering
Josephine Anna Eleanor Hughes, Francesco Stella
The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...
Piscataway2024Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics
Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...
Mary Ann Liebert, Inc2024Morphological flexibility in robotic systems through physical polygon meshing
Jamie Paik, Kevin Andrew Holdcroft, Christoph Heinrich Belke, Alexander Thomas Sigrist
Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...
Berlin2023A Provably Stable Iterative Learning Controller for Continuum Soft Robots
Josephine Anna Eleanor Hughes, Francesco Stella
Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023Learning and optimization of anticipatory feedback controllers for robot manipulation
Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...
EPFL2023The science of soft robot design: A review of motivations, methods and enabling technologies
Josephine Anna Eleanor Hughes, Francesco Stella
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 ...
FRONTIERS MEDIA SA2023Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness
Josephine Anna Eleanor Hughes, Francesco Stella
Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not genera ...
MARY ANN LIEBERT, INC2023Exploration-based model learning with self-attention for risk-sensitive robot control
Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...
2023Tales from a Robotic World. How Intelligent Machines Will Shape Our Future
Dario Floreano, Nicola Nosengo
Stories from the future of intelligent machines—from rescue drones to robot spouses—and accounts of cutting-edge research that could make it all possible. Tech prognosticators promised us robots—autonomous humanoids that could carry out any number of tasks ...
MIT Press2022An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle
Josephine Anna Eleanor Hughes, Francesco Stella, Nana Obayashi
The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevert ...
Institute of Electrical and Electronics Engineers Inc.2022