Search Results - Methods and Tools for Robot System Design

Co-designing versatile quadruped robots for dynamic and energy-efficient motions by Fadini, Gabriele, Kumar, Shivesh, Kumar, Rohit, Flayols, Thomas, Del Prete, Andrea, Carpentier, Justin, Souères, Philippe

“… This method and the optimal bounding trajectories are tested on the first (non-optimized) prototype design iteration showing that our formulation produces a trajectory…”
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Simulation Aided Co-Design for Robust Robot Optimization by Fadini, Gabriele, Flayols, Thomas, Prete, Andrea Del, Soueres, Philippe

“… The outer loop consists in a genetic algorithm that optimizes the co-design variables according to the system average performance when tracking a locally optimal trajectory in perturbed simulations…”
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Transferability in the Automatic Off-Line Design of Robot Swarms: From Sim-to-Real to Embodiment and Design-Method Transfer Across Different Platforms by Kegeleirs, Miquel, Ramos, David Garzon, Hasselmann, Ken, Garattoni, Lorenzo, Francesca, Gianpiero, Birattari, Mauro

“… Here, we investigate <list list-type="ordered"><list-item> 1) whether the design methods that generate control software are transferable across robot platforms and </list-item> <list-item> 2…”
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ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators by Calvo-Fullana, Miguel, Mox, Daniel, Pyattaev, Alexander, Fink, Jonathan, Kumar, Vijay, Ribeiro, Alejandro

“… Indeed, Perception-Action-Communication (PAC) loops, or Perception-Action loops closed over a communication channel, are a critical component of multi-robot systems…”
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Reconfigurable, Multi-Material, Voxel-Based Soft Robots by Legrand, Julie, Terryn, Seppe, Roels, Ellen, Vanderborght, Bram

“… However, real-life voxel-based robots are rather scarce because of their challenging design and assembly…”
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The Robotarium: Automation of a Remotely Accessible, Multi-Robot Testbed by Wilson, Sean, Glotfelter, Paul, Mayya, Siddharth, Notomista, Gennaro, Emam, Yousef, Cai, Xiaoyi, Egerstedt, Magnus

“… A solution to this problem is enable the Robotarium to operate autonomously: improving the robustness and reliability of the system while reducing required human intervention to diagnose and recover…”
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Exploring Human Preferences for Adapting Inappropriate Robot Navigation Behaviors: A Mixed-Methods Study by Zhou, Yunzhong, Vroon, Jered, Kortuem, Gerd

“… This study employs a mixed-methods approach to explore human-preferred robot adaptations, combining qualitative data from a series of human-robot interactions and a semi-structured interview…”
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Orchestrating Method Ensembles to Adapt to Resource Requirements and Constraints During Robotic Task Execution by Lay, Florian S., Domel, Andreas, Lii, Neal Y., Stulp, Freek

“…Robot behavior designers commonly select one method - e.g. A* or RRT - that is assumed to have the appropriate trade-off for a given domain between computational load, computation time, and the quality of the result of the method…”
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Autonomous Magnetic Navigation Framework for Active Wireless Capsule Endoscopy Inspired by Conventional Colonoscopy Procedures by Xu, Yangxin, Li, Keyu, Zhao, Ziqi, Meng, Max Q.-H.

“…In recent years, simultaneous magnetic actuation and localization (SMAL) for active wireless capsule endoscopy (WCE) has been intensively studied to improve…”
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Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking by Sathuluri, Akhil, Sartore, Carlotta, Dafarra, Stefano, Traversaro, Silvio, Zimmermann, Markus, Pucci, Daniele

“…Combined optimisation of various robot subsystems as a co-design problem has been shown to identify performant robots…”
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A Dynamic Resistive Force Model for Designing Mobile Robot in Granular Media by Huang, Lei, Zhu, Junda, Yuan, Yufeng, Yin, Yuehong

“…Locomotion failure is the challenge for wheeled robots applied in granular media, which puts a high demand on the design of wheels…”
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FastSim: A Modular and Plug-and-Play Simulator for Aerial Robots by Cui, Can, Zhou, Xiaobin, Wang, Miao, Gao, Fei, Xu, Chao

“… The distinguished merits of FastSim include: (1) Robot Operating System (ROS) compatible control interfaces and abundant visualization tools for researchers…”
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Automated Straight-Line Sewing of Stretchable Fabrics With Different Lengths by Jin, Bingchen, Kobayashi, Akinari, Bhattacharya, Dipankar, Seino, Akira, Tokuda, Fuyuki, Tien, Norman Chihnan, Kosuge, Kazuhiro

“…, is a challenging task that needs to satisfy several requirements when automating the sewing process. To address the challenges, this research proposes a novel robotic sewing system, Different Length Robotic Sewing System…”
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A Framework for Robot Self-Assessment of Expected Task Performance by Frasca, Tyler, Scheutz, Matthias

“…We propose a self-assessment framework which enables a robot to estimate how well it will be able to perform a known or possibly novel task…”
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Optimal Design of Continuum Robots With Reachability Constraints by Cheong, Hyunmin, Ebrahimi, Mehran, Duggan, Timothy

“… Hence, the current work presents a computational method developed to find optimal designs of continuum robots, given reachability constraints…”
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Tailoring Vacuum Artificial Muscles: A Multi-Parametric FEA-Driven Optimization and Monolithic Fabrication by Galassi, Laura, Lorenzon, Lucrezia, Pagliarani, Niccolo, Sarti, Alberto, Cianchetti, Matteo

“…; however, their design-performance relationship remains poorly understood, and current multi-step fabrication methods limit precision and complexity…”
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Ensuring High Visibility of Passive Markers at Fixed Camera Gain Using Divide and Conquer Method by Retinger, Marek, Michalski, Jacek, Kozierski, Piotr, Drapikowski, Pawel

“…The letter presents a novel solution to determine exposure and threshold values for cameras in motion capture systems without excessive interaction with the user…”
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Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach by Ludovico, Daniele, Guardiani, Paolo, Lasagni, Francesco, Lee, Jinoh, Cannella, Ferdinando, Caldwell, Darwin G.

“… They are key-aspects of industrial robots, such as inspection and maintenance robots. The introduction of a mechanism that passively compensates the joint torque caused by the weight of the robot may offer a valid solution…”
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An Expressiveness Hierarchy of Behavior Trees and Related Architectures by Biggar, Oliver, Zamani, Mohammad, Shames, Iman

“…), Teleo-reactive Programs (TRs) and Finite State Machines (FSMs). By distinguishing between BTs with auxiliary variables and those without, we demonstrate the existence of a trade-off in BT design between readability and expressiveness…”
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The Robotarium: A Remotely-Accessible, Multi-Robot Testbed for Control Research and Education by Wilson, Sean, Egerstedt, Magnus

“… The Robotarium provides a solution to these problems by providing a state-of-the-art, multi-robot research facility to everyone around the world free of charge for academic and educational purposes. This paper discusses the remote usage of the testbed since its opening in 2017, details the testbeds design, and provides a brief tutorial on how to use it…”
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