Publication

An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

Publications associées (31)

Permanently magnetized elastomer rotating actuator using traveling waves

We report a soft actuator that generates continuous rotation of an object placed on it by electromagnetically exciting circular travelling waves in a soft disk. The disk, that serves as the stator, is made of a stretchable composite consisting of segments ...

Iop Publishing Ltd2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

Geometric Learning: Leveraging differential geometry for learning and control

Bernardo Fichera

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

EPFL2024

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Izzet Kagan Erünsal

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Alireza Karimi, Mert Eyuboglu

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

2024

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

Josephine Anna Eleanor Hughes, Francesco Stella, Egidio Falotico

Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks ...

IEEE2023

Exploration-based model learning with self-attention for risk-sensitive robot control

Sudong Lee

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 ...

2023

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

IEEE2023

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Auke Ijspeert, Karen Ann J Mulleners, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Alexandros Anastasiadis, Eric Daniel Tytell

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Nature Research2023

An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

Permanently magnetized elastomer rotating actuator using traveling waves

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Geometric Learning: Leveraging differential geometry for learning and control

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

Exploration-based model learning with self-attention for risk-sensitive robot control

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Graph Chatbot

Permanently magnetized elastomer rotating actuator using traveling waves

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Geometric Learning: Leveraging differential geometry for learning and control

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

Exploration-based model learning with self-attention for risk-sensitive robot control

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

A Provably Stable Iterative Learning Controller for Continuum Soft Robots