Tag: Robotics
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Clinical Validation and Computer Vision Upgrade of “SkyTrace”: A Webcam-Based Rehabilitation Game for Stroke Patients
Contacts: Marta Gandolla, Andrea Dal Prete Location: Politecnico di Milano (Bovisa Campus) / SkyTrace R&D Lab & Villa Beretta Rehabilitation Center (Costa Masnaga, LC, Italy) Duration: 6 months Target Degrees: Biomedical Engineering, Computer Science & Engineering, Mechatronics & Control Engineering Motivation of the study: Effective neuromotor recovery following a cerebrovascular event requires high-dose, task-oriented rehabilitation to induce…
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Cooperative-Competitive Autonomous Racing through Joint Latent Imagination
Introduction Multi-agent autonomous racing requires agents to balance individual performance, cooperation with teammates and competition against opponents. In a 2-vs-2 setting, effective decisions may involve coordinated overtaking, defensive blocking or sacrificing short-term individual performance to improve the team outcome. Model-based reinforcement learning provides a promising framework for this problem by learning a predictive world model…
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Environment-Aware Collision Avoidance for Multi-Agent Navigation
Introduction Safe autonomous navigation requires reasoning not only about how other agents may move, but also about which maneuvers are compatible with the surrounding environment. Hamilton–Jacobi (HJ) reachability can provide a framework for collision avoidance under worst-case interactions. Environmental constraints can already be included in HJ formulations, but combining geometry and multi-agent interaction can significantly…
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Autonomous Operations for Venus Aerobot
Venus is emerging as one of the most compelling targets for planetary exploration. Unlike traditional landers, future concepts envision long-duration aerial robotic platforms (“aerobots”) capable of navigating the Venusian atmosphere for weeks or even months, operating in cloud layers where temperature and pressure are Earth-like. Recent JPL developments include variable-altitude aerobots able to actively control…
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Optimal Control of Flow-Induced TRAPs Using Spinning Robots
This project combines optimal control, fluid mechanics, and dynamical systems to design and steer transport and accumulation regions (TRAPs) in fluid environments using spinning robots as flow actuators. By controlling rotation speed, direction, and robot coordination, we aim to generate tailored flow structures that selectively trap floating particles or swimming microorganisms. The theoretical component builds…
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Virtual Model Control of a Soft Compliant Manipulator
Soft continuum robotic arms offer unparalleled dexterity and compliance over rigid bodies, thus facilitating safe and robust interactions with environments. These characteristics make them ideal for diverse applications, such as collaborative robotics or medical contexts. However, due to their virtually infinite degrees of freedom, control of these systems has always been a challenge. Various control…
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Bipedal gait analysis on planetary surfaces
Evaluation of the mechanical cost of transport for a bipedal robot during four bipedal locomotion gaits (walking, running, jumping, and skipping), performed in simulation within three different gravitational scenarios: on Earth, Mars, and the Moon. Contacts Deutsches Zentrum für Luft- und Raumfahrt German Aerospace Center Institute of Robotics and Mechatronics Münchner Straße 20 82234 Wessling…
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Active spoke wheel
Develop and simulate an active spoke wheel design that is able to climb stairs and navigate smooth terrains with a high energy efficiency. Inspired on the concept of actuated spokes as proposed in hybrid locomotion platforms such as IMPASS (IMPASS: Intelligent Mobility Platform with Active Spoke System | IEEE Conference Publication | IEEE Xplore) Contacts…
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Conceptualization of a Reduced-Complex Cable-Based Gravity Compensation System for Space Manipulator On-Ground Tests
Robotics is primed to play a crucial role in future space missions. By performing tasks such as on-orbit servicing, inspection and de-orbiting, space robotics can enable a sustainable use of Earth’s orbits. The DLR’s Compliant Assistance andExploration SpAce Robot (CAESAR) is a light-weight, dexterous robot with seven degrees of freedom designed for on-orbit servicing in…
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On-Ground Dynamics Parameter Identification and Force Distribution Analysis of a Gravity-Compensated Space Manipulator Robot
Robotics is primed to play a crucial role in future space missions. By performing tasks such as on-orbit servicing, inspection and de-orbiting, space robotics can enable a sustainable use of Earth’s orbits. The DLR’s Compliant Assistance and Exploration SpAce Robot (CAESAR) is a light-weight, dexterous robot with seven degrees of freedom designed for on-orbit servicing…