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The Development of Khepera

Publications associées (130)

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Multi-Robot Localization Using Relative Observations

Roland Siegwart, Frédéric Pont

In this paper we consider the problem of simultaneously localizing all members of a team of robots. Each robot is equipped with proprioceptive sensors and exteroceptive sensors. The latter provide relative observations between the robots. Proprioceptive an ...

2005

Micro manipulation by adhesion with two collaborating mobile micro robots

Jean-Marc Breguet, Walter Driesen

A micro manipulation platform consisting of two cubic centimeter sized micro robots each with four degrees of freedom has been developed. This paper discusses four different strategies of manipulation by adhesion for grasping, transferring and releasing a ...

2005

InsBot: Design of an Autonomous Mini Mobile Robot Able to Interact with Cockroaches

Roland Siegwart, Gilles Caprari

This paper presents general ideas on design and implementation of robots to be used together with groups of animals. This work is part of the European project LEURRE aiming to study, model and control mixed societies of animals and robots. After a short pr ...

2004

Wheel torque control for a rough terrain rover

Roland Siegwart, Pierre Lamon, Michel Lauria

Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a la ...

2004

Towards a new Delta robot: an inverted Delta

In the way of developing fast parallel robots, the following work proposes a development of a new delta robot. This robot is a 3 d.o.f. parallel robot based on a Delta-like kinematics [Clavel 88, 92]. It is actually an inverted Delta in which the parallel ...

2004

Vision-based Navigation from Wheels to Wings

Dario Floreano, Jean-Christophe Zufferey, Antoine Beyeler

We describe an incremental approach towards the development of autonomous indoor flyers that use only vision to navigate in textured environments. In order to cope with the severe weight and energy constraints of such systems, we use spiking neural control ...

2003

Searching a Target with a Mobile Robot

Adriana Tapus

This paper presents an application of the Markov Decision Processes to search a target with a mobile robot. The robot does not know the absolute position of the target. It only knows the position of the target relative to its position. Markov Decision Proc ...

2003

Octopus - An Autonomous Wheeled Climbing Robot

Roland Siegwart, Yves Henri Philippe Piguet, Michel Lauria

This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The ...

2002

Ago Ergo Sum

Dario Floreano

In this paper I explore the hypothesis that some of today's robots might possess a form of consciousness whose substrate is a mere algorithm. First, consciousness is defined within an evolutionary framework as awareness of one's own state in relation to th ...

John Benjamins Publishing2002

Development of neutron optical components at ILL

The neutron optics laboratory at ILL carries out an innovative research program in various fields of neutron optics with the aim of developing new and improved tools for neutron instrumentation. An overview of some recent highlights is presented, indicatin ...

2002