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Publications associées (678)
Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding
Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...
EPFL2023Morphological 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 ...
Berlin2023Prescribing 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, INC2023Reinforcement learning for scaffold-free construction of spanning-structures
Maryam Kamgarpour, Stefana Parascho, Gabriel Rémi Vallat, Anna Maria Maddux, Jingwen Wang
In construction robotics, a conventional design-to-fabrication work-flow starts with designing a structure, followed by task and robotic motion planning, and ultimately, fabrication. However, this approach can prove unsuccessful, as we may only discover th ...
2023A 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 INC2023Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness
Stéphanie Lacour, Ivan Furfaro, Emilio Fernández Lavado, Haotian Chen
Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...
2023Learning 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 ...
EPFL2023Piecewise 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 ...
IEEE2023Ultra-tunable bistable structures for universal robotic applications
Jamie Paik, Lei Wang, Ke Liu, Hongying Zhang, Yongkang Jiang, Xin Tong
Bistable structures in nature are unparalleled for their fast response and force amplification even with the most minute physical stimula-tion. However, current works on bistable structures mainly focus on their stable states, while promising intermediate ...
CELL PRESS2023Self-Correcting Quadratic Programming-Based Robot Control
Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis
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 ...
2023