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A reconfiguration strategy for modular robots using origami folding

  • Authors: Yao, Meibao; Belke, Christoph H.; Cui, Hutao; Paik, Jamie

  Published in: The International Journal of Robotics Research, 027836491881575 Reconfigurability in versatile systems of modular robots is achieved by changing the morphology of the overall structure as well as by connecting and disconnecting modules. Recurrent connectivity changes can cause misalignment that leads to mechanical failure of the system. This paper presents a new approach …

Posted on: December 7, 2018

A Variable Stiffness Catheter Controlled with an External Magnetic Field

  • Authors: Chautems, Christophe; Tonazzini, Alice; Floreano, Dario; Nelson, Bradley

  Published in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Vancouver, Canada, 2017 Remote magnetic navigation of catheters is a technique used to perform radiofrequency ablation of heart tissue in order to treat cardiac arrhythmias. The flexible magnetic catheters used in this context are in some cases not sufficiently dexterous …

Posted on: November 26, 2018

Optimal Distribution of Active Modules in Modular Robots

  • Authors: Yao, Meibao; Xiao, Xueming; Belke, Christoph H.; Cui, Hutao; Paik, Jamie

  Published in: Journal of Mechanisms and Robotics Reconfigurability in versatile systems of modular robots is achieved by appropriate actuation of their modular units. Optimized distribution of active modules in the modular architecture can significantly reduce cost and energy in the reconfiguration tasks. This paper presents methodology for distribution planning in modular robots that results …

Posted on: November 19, 2018

Differential contributions of subthalamic beta rhythms and 1/f broadband activity to motor symptoms in Parkinson’s disease

  • Authors: Martin, Stephanie; Iturrate, Iñaki; Chavarriaga, Ricardo; Leeb, Robert; Sobolewski, Aleksander; Li, Andrew M.; Zaldivar, Julien; Peciu-Florianu, Iulia; Pralong, Etienne; Castro-Jiménez, Mayte; Benninger, David; Vingerhoets, François; Knight, Robert T.; Bloch, Jocelyne; Millán, José del R.

  Published in: npj Parkinson’s Disease, 4, 1, 32 Excessive beta oscillatory activity in the subthalamic nucleus (STN) is linked to Parkinson’s Disease (PD) motor symptoms. However, previous works have been inconsistent regarding the functional role of beta activity in untreated Parkinsonian states, questioning such role. We hypothesized that this inconsistency is due to the …

Posted on: November 7, 2018

Closed-loop electrical neurostimulation: Challenges and opportunities

  • Authors: Iturrate, Iñaki; Pereira, Michael; Millán, José del R.

  Published in: Current Opinion in Biomedical Engineering, 8, 28-37 Non-invasive and invasive electrical neurostimulation are promising tools to better understand brain function and ultimately treat its malfunction. In current open-loop approaches, a clinician chooses a fixed set of stimulation parameters, informed by observed therapeutic benefits and previous empirical evidence. However, this procedure leads to …

Posted on: November 7, 2018

Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization

  • Authors: Fankhauser, Peter; Bloesch, Michael; Hutter, Marco

  Published in: IEEE Robotics and Automation Letters, 3, 4, 3019-3026 Mobile robots build on accurate, real-time mapping with onboard range sensors to achieve autonomous navigation over rough terrain. Existing approaches often rely on absolute localization based on tracking of external geometric or visual features. To circumvent the reliability issues of these approaches, we propose …

Posted on: September 21, 2018

Wall-contact sliding control strategy for a 2D caged quadrotor

  • Authors: Bai, Pu; Guerreiro, Bruno; Cunha, Rita; Kornatowski, Przemyslaw Mariusz; Floreano, Dario; Silvestre, Carlos

  Presented at: 18th International Conference on Control, Automation, and Systems, PyeongChang, GangWon Province, Korea, October 17-20, 2018 This paper addresses the trajectory tracking problem of a 2D caged flying robot in contact with a wall. To simplify the contact problem, the models are constructed on a vertical two-dimensional plane, and our objective is to …

Posted on: September 10, 2018

Ultra Low Power Deep-Learning-powered Autonomous Nano Drones

  • Authors: Palossi, Daniele; Loquercio, Antonio; Conti, Francesco; Flamand, Eric; Scaramuzza, Davide; Benini, Luca

  Flying in dynamic, urban, highly-populated environments represents an open problem in robotics. State-of-the-art (SoA) autonomous Unmanned Aerial Vehicles (UAVs) employ advanced computer vision techniques based on computationally expensive algorithms, such as Simultaneous Localization and Mapping (SLAM) or Convolutional Neural Networks (CNNs) to navigate in such environments. In the Internet-of-Things (IoT) era, nano-size UAVs capable …

Posted on: September 4, 2018

SIPS: Unsupervised Succinct Interest Points

  • Authors: Cieslewski, Titus; Scaramuzza, Davide

  Detecting interest points is a key component of vision-based estimation algorithms, such as visual odometry or visual SLAM. Classically, interest point detection has been done with methods such as Harris, FAST, or DoG. Recently, better detectors have been proposed based on Neural Networks. Traditionally, interest point detectors have been designed to maximize repeatability or …

Posted on: September 4, 2018

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

  • Authors: Falanga, Davide; Foehn, Philipp; Lu, Peng; Scaramuzza, Davide

  Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018 We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute trajectories that satisfy the system dynamics and require control inputs within …

Posted on: September 4, 2018