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BIOROB
Добавлен 5 фев 2011
Official RUclips Channel of the Biorobotics Laboratory at École polytechnique fédérale de Lausanne (EPFL)
Obstacle Avoidance of Decentralized Swarms
ieeexplore.ieee.org/abstract/document/10341717
Efficient and safe multi-agent swarm coordination in environments where humans operate, such as warehouses, assistive living rooms, or automated hospitals, is crucial for adopting automation. In this paper, we augment the obstacle avoidance algorithm based on dynamical system modulation for a swarm of heterogeneous holonomic mobile agents. A smooth prioritization is proposed to change the reactivity of the swarm towards the specific agents. Further, a soft decoupling of the initial agent's kinematics is used to design an independent rotation control to ensure the agent reaches the desired position and orientation simultaneously. This decouplin...
Efficient and safe multi-agent swarm coordination in environments where humans operate, such as warehouses, assistive living rooms, or automated hospitals, is crucial for adopting automation. In this paper, we augment the obstacle avoidance algorithm based on dynamical system modulation for a swarm of heterogeneous holonomic mobile agents. A smooth prioritization is proposed to change the reactivity of the swarm towards the specific agents. Further, a soft decoupling of the initial agent's kinematics is used to design an independent rotation control to ensure the agent reaches the desired position and orientation simultaneously. This decouplin...
Просмотров: 16
Видео
Collision-free Autonomous Coordination of a Mobile Assistive Furniture Swarm
Просмотров 213 месяца назад
A Dynamical System Approach to Decentralized Collision-free Autonomous Coordination of a Mobile Assistive Furniture Swarm ieeexplore.ieee.org/document/9981583 In order to facilitate and assist the indoor mobility of people with special needs, the classically static objects in the environment, such as furniture, can be rendered mobile. The need for efficient and safe autonomous coordination of a...
Real-Time Localization for Closed-Loop Control of Assistive Furniture
Просмотров 173 месяца назад
ieeexplore.ieee.org/document/10155264 For people with limited mobility, navigating in cluttered indoor environment is challenging. In this work, we propose a mobile assistive furniture suite that is designed to ease the life of people with special needs in indoor movement. To enable intelligent coordination of this system, a key component is the localization of each mobile furniture. The challe...
End-to-End Planner for Self-Reconfigurable Modular Robots
Просмотров 603 месяца назад
End-to-End Planner for Self-Reconfigurable Modular Robots Collaborative Objects Manipulation, Transport and Handover to Human Application ieeexplore.ieee.org/abstract/document/10309434 Collaborative object manipulation and transport with self-reconfigurable modular robots can take a major role in improving modularity and adaptability of smart-home and factory-like environments. Controlling modu...
Drosophila Locomotion Based on CPG
Просмотров 1333 месяца назад
Forward walking across optimization generations. Forward walking for four solutions shown across optimization generations 15, 30, 45 and 60. Tarsal contacts with the ground are indicated (green). Videos are replayed at 0.1x real time. Solutions shown are: (top-left) a random individual, (top-right) the fastest individual (i.e., with the longest distance traveled), (bottom-left) the most stable ...
NeuroMechFly
Просмотров 293 месяца назад
Constructing a data-driven biomechanical model of adult Drosophila. An adult female fly is encased in resin for x-ray microtomography. The resulting x-ray microtomography data reveals cuticle, muscles, nervous tissues, and internal organs. These data are thresholded to separate the foreground from background. Then the exoskeleton is voxelized into a 3-dimensional polygon mesh. Articulated body ...
Viability Leads to the Emergence of Gait Transitions in Learning Locomotion (Nature Communications)
Просмотров 6984 месяца назад
Nature Communications: www.nature.com/articles/s41467-024-47443-w Code: github.com/MiladShafiee/DeepTransition Webpage: miladshafiee.github.io/DeepTransition/ Quadruped animals are capable of seamless transitions between different gaits. While energy efficiency appears to be one of the reasons for changing gaits, other determinant factors likely play a role too, including terrain properties. In...
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots
Просмотров 6814 месяца назад
Project Page: miladshafiee.github.io/ManyQuadrupeds/ paper: arxiv.org/pdf/2310.10486.pdf Abstract: Learning a locomotion policy for quadruped robots has traditionally been constrained to a specific robot morphology, mass, and size. The learning process must usually be repeated for every new robot, where hyperparameters and reward function weights must be re-tuned to maximize performance for eac...
Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping
Просмотров 1094 месяца назад
Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either through model-based trajectory optimization, or through deep learning-based methods involving millions of timesteps of simulation interactions. Notably, such ...
Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion
Просмотров 2224 месяца назад
Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal cord contribution to animal locomotion control in computational neuroscience and in bio-inspired robotics. However, the contribution of suprasp...
Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion
Просмотров 864 месяца назад
We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework. Through both exteroceptive and proprioceptive sensing, the agent learns to coordinate rhythmic behavior among different oscillators to track velocity command...
CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion
Просмотров 1404 месяца назад
In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to produce robust and omnidirectional quadruped locomotion. The agent learns to directly modulate the intrinsic oscillator setpoints (amplitude and frequency) and coordinate rhythmic behavior among different oscillators....
Roombots @ICRA 2020
Просмотров 1,4 тыс.4 года назад
In this video, we present our self-reconfigurable modular robot system "Roombots". Our vision for Roombots is to use them in the daily life as adaptive and assistive funiture. Imagine furniture you can interact with, fulfilling simple tasks such as picking up a pen, following you in case you need assistance, and self-reconfigures into other pieces of furniture according to your needs. The video...
Neuro-inspired computational model for visually guided robotic lamprey: frame- & event-based cameras
Просмотров 4184 года назад
The computational load associated with computer vision is often prohibitive, and limits the capacity for on-board image analysis in compact mobile robots. Replicating the kind of feature detection and neural processing that animals excel at remains a challenge in most biomimetic aquatic robots. Event-driven sensors use a biologically inspired sensing strategy to eliminate the need for complete ...
Salamandra robotica II swimming and walking at InnoRobo 2013
Просмотров 3,8 тыс.4 года назад
Demonstrating transitions between walking and swimming with the Salamandra robotica II robot (biorob.epfl.ch/salamandra), at the InnoRobo 2013 exhibition.
Roombots: Self-reconfigurable modular robots for adaptive and assistive furniture
Просмотров 26 тыс.4 года назад
Roombots: Self-reconfigurable modular robots for adaptive and assistive furniture
Oncilla robot - Multimedia Extension 1
Просмотров 1 тыс.6 лет назад
Oncilla robot - Multimedia Extension 1
Oncilla robot - Multimedia Extension 2
Просмотров 4926 лет назад
Oncilla robot - Multimedia Extension 2
Oncilla robot - Multimedia Extension 3
Просмотров 4596 лет назад
Oncilla robot - Multimedia Extension 3
Oncilla robot - Multimedia Extension 4
Просмотров 9456 лет назад
Oncilla robot - Multimedia Extension 4
Oncilla robot - Multimedia Extension 5
Просмотров 4916 лет назад
Oncilla robot - Multimedia Extension 5
Cheetah-cub running in hallway - Slow motion
Просмотров 1,2 тыс.11 лет назад
Cheetah-cub running in hallway - Slow motion
Cheetah-cub trot gait, comparing leg designs
Просмотров 99011 лет назад
Cheetah-cub trot gait, comparing leg designs
Cheetah cub - Hallway Run with on board GoPro camera
Просмотров 82911 лет назад
Cheetah cub - Hallway Run with on board GoPro camera
Salamandra robotica swimming out of the lake
Просмотров 18 тыс.12 лет назад
Salamandra robotica swimming out of the lake
Finally I won't have to reconfigure my furniture manually every time I want to sit down.
Best researcher in the world
No Cheetah-cub? 😢😛 Awesome work!
So cool!
colllllllllllllllllllllllllll
I like that robot lizard🦎
Only requires you to hire one full time minder-human! J/K keep it up, super cool and best implementation of the ol 'robot cubes assemble!' concept I've seen to date.
Great idea but way ahead of time. Well, what you are thinking is the autonomous units that act on themselves from industrialization 4.0.... but that will take time and you will not experience it. So let us call it an "leonardo da vinci" Idea. Until it comes true, you've been history for a long time and if you're unlucky, no one will know your name anymore. You want to solve two problems at once. Each of these problem requires an Elon Musk to pay for the development: Mission 1 There are companies that donate huge amounts that 6 axes with 2 million cycles come done to 2500 USD. These axes carry 1kg only and each individual axle is in size of a single of your Roombot. So our generation will no experience the gearbox in your sice that you can get your application needs. Mission 2 is the logic, that's where the Festo - BionicANTs come to my mind... you will need a billion bugged as well.
How you develop this reconfigurable...
Just imagine walking through an ikea and thousands of these things are robbing the store XD
Big hero 6
Very interesting!
is there any assembly or 3d files?
Great job 👍🏻👏🏻
This is like a dream is becoming true. Well done!
Well done 👍
Kinda like microbots in Big Hero 6
These are pretty cool 👍
Engineering of macro scale objects is obsolete. I imagine that only those robots may be able to make the progress going.
The future of robotics is small robots merging together into big structures
By and large - useless nonsense. Sorry for the truth.
Only truth here is that you have no perspective or imagination 😉
@@BedOfNettles I have a fairly developed imagination and an IQ close to genius. And I'm 146% sure that you won't be able to find a practical use for this nonsense.
@@Gianluca-Vacchi what's your iq?
@@cvspvr You have an extremely low. I wrote above what my IQ level is.
Have more modules (with different abilities, e.g: robotic hand, robotic fingers, camera, broom stick) which can be mounted to these dynamic structure, have those dynamic structure constantly change shape to achieve smooth (emough) motions with those handy modules Robot that can walk around your house, turn the light off, check the temperature, turn the stove off, lock the door from the inside.
Супер хорошо!!!!
Imagine what it would be like to live in society governed by Roombots...
Great work. Is the CAD drawing available.
Its gpl3 and files are on c4science.ch/source/oncilla-hardware/
walkies! :D
I've posted it on my website about robotics pr.ai/showthread.php?6785
great! it can makes turns? or not YET?
OH, THAT'S NEAT!!!!!!!!!!! Very cool! :)
how did this not get likes????????