Header logo is


2013


no image
AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots

Hutter, M., Bloesch, M., Buchli, J., Semini, C., Bazeille, S., Righetti, L., Bohg, J.

In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages: 1-4, IEEE, Linköping, Sweden, 2013 (inproceedings)

mg

link (url) DOI [BibTex]

2013


link (url) DOI [BibTex]


no image
Angular Motion Control Using a Closed-Loop CPG for a Water-Running Robot

Thatte, N., Khoramshahi, M., Ijspeert, A., Sitti, M.

In Dynamic Walking 2013, (EPFL-CONF-199763), 2013 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Two-dimensional magnetic micro-module reconfigurations based on inter-modular interactions

Miyashita, S., Diller, E., Sitti, M.

The International Journal of Robotics Research, 32(5):591-613, SAGE Publications Sage UK: London, England, 2013 (article)

pi

[BibTex]

[BibTex]


no image
Contact compliance effects in the frictional response of bioinspired fibrillar adhesives

Piccardo, M., Chateauminois, A., Fretigny, C., Pugno, N. M., Sitti, M.

Journal of The Royal Society Interface, 10(83):20130182, The Royal Society, 2013 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Co-chairs

VINCENT, Julian, ZHU, Di, DAI, Zhendong, CHEN, Da, JIANG, Lei, KANG, Le, REN, Luquan, XUE, Qunji, Zhao, Chunsheng, BARNES, Jon, others

2013 (article)

pi

[BibTex]

[BibTex]


no image
Learning Objective Functions for Manipulation

Kalakrishnan, M., Pastor, P., Righetti, L., Schaal, S.

In 2013 IEEE International Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
We present an approach to learning objective functions for robotic manipulation based on inverse reinforcement learning. Our path integral inverse reinforcement learning algorithm can deal with high-dimensional continuous state-action spaces, and only requires local optimality of demonstrated trajectories. We use L 1 regularization in order to achieve feature selection, and propose an efficient algorithm to minimize the resulting convex objective function. We demonstrate our approach by applying it to two core problems in robotic manipulation. First, we learn a cost function for redundancy resolution in inverse kinematics. Second, we use our method to learn a cost function over trajectories, which is then used in optimization-based motion planning for grasping and manipulation tasks. Experimental results show that our method outperforms previous algorithms in high-dimensional settings.

am mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Topological Control of Cell Sheet Migration by the 3D Microenvironment

Song, J., Kim, Y. T., Hazar, M., LeDuc, P. R., Davidson, L. A., Sitti, M.

Biophysical Journal, 104(2):147a, Elsevier, 2013 (article)

pi

[BibTex]

[BibTex]


no image
Independent control of multiple magnetic microrobots in three dimensions

Diller, E., Giltinan, J., Sitti, M.

The International Journal of Robotics Research, 32(5):614-631, SAGE Publications Sage UK: London, England, 2013 (article)

pi

[BibTex]

[BibTex]


no image
A hybrid topological and structural optimization method to design a 3-DOF planar motion compliant mechanism

Lum, G. Z., Teo, T. J., Yang, G., Yeo, S. H., Sitti, M.

In Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on, pages: 247-254, 2013 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Modular micro-robotic assembly through magnetic actuation and thermal bonding

Diller, E., Zhang, N., Sitti, M.

Journal of Micro-Bio Robotics, 8(3-4):121-131, Springer Berlin Heidelberg, 2013 (article)

pi

[BibTex]

[BibTex]


no image
Light-induced microbubble poration of localized cells

Fan, Qihui, Hu, Wenqi, Ohta, Aaron T

In Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE, pages: 4482-4485, 2013 (inproceedings)

pi

[BibTex]

[BibTex]


no image
A simulation and design tool for a passive rotation flapping wing mechanism

Arabagi, V., Hines, L., Sitti, M.

IEEE/ASME Transactions on Mechatronics, 18(2):787-798, 2013 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
GECKO-INSPIRED POLYMER ADHESIVES

Menguc, Yigit, Metin, Metin

Polymer Adhesion, Friction, and Lubrication, pages: 351, Wiley, 2013 (article)

pi

[BibTex]

[BibTex]


no image
Near and far-wall effects on the three-dimensional motion of bacteria-driven microbeads

Edwards, M. R., Wright Carlsen, R., Sitti, M.

Applied Physics Letters, 102(14):143701, AIP, 2013 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
SoftCubes: towards a soft modular matter

Yim, S., Sitti, M.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages: 530-536, 2013 (inproceedings)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Magnetically Actuated Soft Capsule With the Multimodal Drug Release Function

Yim, S., Goyal, K., Sitti, M.

IEEE/ASME Trans. on Mechatronics, 18(4):1413-1418, IEEE, 2013 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Optimal distribution of contact forces with inverse-dynamics control

Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S.

The International Journal of Robotics Research, 32(3):280-298, March 2013 (article)

Abstract
The development of legged robots for complex environments requires controllers that guarantee both high tracking performance and compliance with the environment. More specifically the control of the contact interaction with the environment is of crucial importance to ensure stable, robust and safe motions. In this contribution we develop an inverse-dynamics controller for floating-base robots under contact constraints that can minimize any combination of linear and quadratic costs in the contact constraints and the commands. Our main result is the exact analytical derivation of the controller. Such a result is particularly relevant for legged robots as it allows us to use torque redundancy to directly optimize contact interactions. For example, given a desired locomotion behavior, we can guarantee the minimization of contact forces to reduce slipping on difficult terrains while ensuring high tracking performance of the desired motion. The main advantages of the controller are its simplicity, computational efficiency and robustness to model inaccuracies. We present detailed experimental results on simulated humanoid and quadruped robots as well as a real quadruped robot. The experiments demonstrate that the controller can greatly improve the robustness of locomotion of the robots.1

am mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Tank-like module-based climbing robot using passive compliant joints

Seo, T., Sitti, M.

IEEE/ASME Transactions on Mechatronics, 18(1):397-408, 2013 (article)

pi

[BibTex]

[BibTex]


no image
Flapping wings via direct-driving by DC motors

Azhar, M., Campolo, D., Lau, G., Hines, L., Sitti, M.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages: 1397-1402, 2013 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Three dimensional independent control of multiple magnetic microrobots

Diller, E., Giltinan, J., Jena, P., Sitti, M.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages: 2576-2581, 2013 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Enhanced fabrication and characterization of gecko-inspired mushroom-tipped microfiber adhesives

Song, J., Mengüç, Y., Sitti, M.

Journal of Adhesion Science and Technology, 27(17):1921-1932, Routledge, 2013 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
A Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive

Daler, L., Klaptocz, A., Briod, A., Sitti, M., Floreano, D.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Micro-scale mobile robotics

Diller, E., Sitti, M.

Foundations and Trends in Robotics, 2(3):143-259, Now Publishers Incorporated, 2013 (article)

pi

[BibTex]

[BibTex]


no image
Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Sitti, M., Menciassi, A., Ijspeert, A., Low, K. H., Kim, S.

Mechatronics, IEEE/ASME Transactions on, 18(2):409-418, DOI: 10.1109/TMECH.2012. 2233492, 2013 (article)

pi

[BibTex]

[BibTex]


no image
Bonding methods for modular micro-robotic assemblies

Diller, E., Zhang, N., Sitti, M.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages: 2588-2593, 2013 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation

Gregg, R., Righetti, L.

IEEE Transactions on Automatic Control, 58(10):2679-2685, October 2013 (article)

Abstract
This technical note shows that viscous damping can shape momentum conservation laws in a manner that stabilizes yaw rotation and enables steering for underactuated 3D walking. We first show that unactuated cyclic variables can be controlled by passively shaped conservation laws given a stabilizing controller in the actuated coordinates. We then exploit this result to realize controlled geometric reduction with multiple unactuated cyclic variables. We apply this underactuated control strategy to a five-link 3D biped to produce exponentially stable straight-ahead walking and steering in the presence of passive yawing.

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Learning Task Error Models for Manipulation

Pastor, P., Kalakrishnan, M., Binney, J., Kelly, J., Righetti, L., Sukhatme, G. S., Schaal, S.

In 2013 IEEE Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
Precise kinematic forward models are important for robots to successfully perform dexterous grasping and manipulation tasks, especially when visual servoing is rendered infeasible due to occlusions. A lot of research has been conducted to estimate geometric and non-geometric parameters of kinematic chains to minimize reconstruction errors. However, kinematic chains can include non-linearities, e.g. due to cable stretch and motor-side encoders, that result in significantly different errors for different parts of the state space. Previous work either does not consider such non-linearities or proposes to estimate non-geometric parameters of carefully engineered models that are robot specific. We propose a data-driven approach that learns task error models that account for such unmodeled non-linearities. We argue that in the context of grasping and manipulation, it is sufficient to achieve high accuracy in the task relevant state space. We identify this relevant state space using previously executed joint configurations and learn error corrections for those. Therefore, our system is developed to generate subsequent executions that are similar to previous ones. The experiments show that our method successfully captures the non-linearities in the head kinematic chain (due to a counterbalancing spring) and the arm kinematic chains (due to cable stretch) of the considered experimental platform, see Fig. 1. The feasibility of the presented error learning approach has also been evaluated in independent DARPA ARM-S testing contributing to successfully complete 67 out of 72 grasping and manipulation tasks.

am mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]

2005


no image
Modeling and testing of a biomimetic flagellar propulsion method for microscale biomedical swimming robots

Behkam, B., Sitti, M.

In Proceedings of Advanced Intelligent Mechatronics Conference, pages: 37-42, 2005 (inproceedings)

pi

Project Page [BibTex]

2005


Project Page [BibTex]


no image
Biologically inspired adhesion based surface climbing robots

Menon, C., Sitti, M.

In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pages: 2715-2720, 2005 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Claytronics: highly scalable communications, sensing, and actuation networks

Aksak, Burak, Bhat, Preethi Srinivas, Campbell, Jason, DeRosa, Michael, Funiak, Stanislav, Gibbons, Phillip B, Goldstein, Seth Copen, Guestrin, Carlos, Gupta, Ashish, Helfrich, Casey, others

In Proceedings of the 3rd international conference on Embedded networked sensor systems, pages: 299-299, 2005 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Biologically Inspired Miniature Water Strider Robot.

Suhr, S. H., Song, Y. S., Lee, S. J., Sitti, M.

In Robotics: Science and Systems, pages: 319-326, 2005 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Polymer micro/nanofiber fabrication using micro/nanopipettes

Nain, A. S., Amon, C., Sitti, M.

In Nanotechnology, 2005. 5th IEEE Conference on, pages: 366-369, 2005 (inproceedings)

pi

[BibTex]

[BibTex]


no image
A dynamical systems approach to learning: a frequency-adaptive hopper robot

Buchli, J., Righetti, L., Ijspeert, A.

In Proceedings of the VIIIth European Conference on Artificial Life ECAL 2005, pages: 210-220, Springer Verlag, 2005 (inproceedings)

mg

[BibTex]

[BibTex]


no image
From Dynamic Hebbian Learning for Oscillators to Adaptive Central Pattern Generators

Righetti, L., Buchli, J., Ijspeert, A.

In Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines – AMAM 2005, Verlag ISLE, Ilmenau, 2005 (inproceedings)

mg

[BibTex]

[BibTex]


no image
Fusion of biomedical microcapsule endoscope and microsystem technology

Kim, Tae Song, Kim, Byungkyu, Cho, Dongil Dan, Song, Si Young, Dario, P, Sitti, M

In Solid-State Sensors, Actuators and Microsystems, 2005. Digest of Technical Papers. TRANSDUCERS’05. The 13th International Conference on, 1, pages: 9-14, 2005 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Atomic force microscope based two-dimensional assembly of micro/nanoparticles

Tafazzoli, A., Pawashe, C., Sitti, M.

In Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005.(ISATP 2005). The 6th IEEE International Symposium on, pages: 230-235, 2005 (inproceedings)

pi

[BibTex]

[BibTex]


no image
A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

Cheung, E., Karagozler, M. E., Park, S., Kim, B., Sitti, M.

In Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on, pages: 551-557, 2005 (inproceedings)

pi

Project Page [BibTex]

Project Page [BibTex]