2024
Journal Articles
Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics
Soft Robotics. 2024. DOI : 10.1089/soro.2023.0225.Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering
Ieee Robotics And Automation Letters. 2024. Vol. 9, num. 2, p. 1945 – 1952. DOI : 10.1109/LRA.2023.3339063.Into the ice: Exploration and data capturing in glacial moulins by a tethered robot
Journal Of Field Robotics. 2024. DOI : 10.1002/rob.22280.Anniversary AI reflections
Nature Machine Intelligence. 2024. Vol. 6, num. 1, p. 6 – 12. DOI : 10.1038/s42256-023-00784-5.Fiber-Optic Force Sensing of Modular Robotic Skin for Remote and Autonomous Robot Control
IEEE Transactions on Robotics. 2024. Vol. 40, p. 2373 – 2389. DOI : 10.1109/TRO.2024.3378178.Conference Papers
Morphological and Material Programability of a Hall-Effect Based Soft Tactile Sensors
2024. 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA, April 14-17, 2024. p. 325 – 331. DOI : 10.1109/RoboSoft60065.2024.10521990.Reviews
Soft robotics for farm to fork: applications in agriculture & farming
Bioinspiration & Biomimetics. 2024. Vol. 19, num. 2, p. 021002. DOI : 10.1088/1748-3190/ad2084.Theses
Gas Sensing with Rotary-Wing Nano Aerial Vehicles
Lausanne, EPFL, 2024.Investigating neural resource allocation in the sensorimotor control of extra limbs
Lausanne, EPFL, 2024.Additively manufactured stretchable zipping electrostatic actuators
Lausanne, EPFL, 2024.Materials science experiments by robotic automation
Lausanne, EPFL, 2024.2023
Journal Articles
Soft Bending Actuator With Fiber-Jamming Variable Stiffness and Fiber-Optic Proprioception
Ieee Robotics And Automation Letters. 2023. Vol. 8, num. 11, p. 7344 – 7351. DOI : 10.1109/LRA.2023.3316075.Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles
Frontiers In Robotics And Ai. 2023. Vol. 10, p. 1267019. DOI : 10.3389/frobt.2023.1267019.A Provably Stable Iterative Learning Controller for Continuum Soft Robots
Ieee Robotics And Automation Letters. 2023. Vol. 8, num. 10, p. 6427 – 6434. DOI : 10.1109/LRA.2023.3307007.4D printing of Metal-Reinforced double network granular hydrogels
Chemical Engineering Journal. 2023. Vol. 473, p. 145433. DOI : 10.1016/j.cej.2023.145433.Environmental Adaptability of Legged Robots with Cutaneous Inflation and Sensation
Advanced Intelligent Systems. 2023. DOI : 10.1002/aisy.202300172.Special issue on robotics technology for agriculture
Advanced Robotics. 2023. Vol. 37, num. 15, p. 959 – 959. DOI : 10.1080/01691864.2023.2241210.Automation in steep terrain agriculture: an optimal controller to prevent tipping and slipping of tethered robots on slopes
Advanced Robotics. 2023. DOI : 10.1080/01691864.2023.2229901.How can LLMs transform the robotic design process?
Nature Machine Intelligence. 2023. DOI : 10.1038/s42256-023-00669-7.Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness
Soft Robotics. 2023. DOI : 10.1089/soro.2022.0025.Exploration of the Design of Spiderweb-Inspired Structures for Vibration-Driven Sensing
Biomimetics. 2023. Vol. 8, num. 1, p. 111. DOI : 10.3390/biomimetics8010111.Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming
Ieee Robotics And Automation Letters. 2023. Vol. 8, num. 3, p. 1495 – 1500. DOI : 10.1109/LRA.2023.3240334.Exploration-based model learning with self-attention for risk-sensitive robot control
npj Robotics. 2023. Vol. 1, num. 7. DOI : 10.1038/s44182-023-00006-5.Conference Papers
Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot
2023. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, UK, May 29 – June 2, 2023. DOI : 10.1109/ICRA48891.2023.10160347.A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process
2023. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10122054.Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization
2023. Robosoft 2023 6th IEEE-RAS International Conference on Soft Robotics, Singapore, April 3-7, 2023. DOI : 10.1109/RoboSoft55895.2023.10121999.Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control
2023. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10122116.Accessible Soft Robotics Education with Re-configurable Balloon Robots
2023. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, OCT 01-05, 2023. p. 8331 – 8336. DOI : 10.1109/IROS55552.2023.10342299.Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC
2023. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10121939.Reviews
The science of soft robot design: A review of motivations, methods and enabling technologies
Frontiers In Robotics And Ai. 2023. Vol. 9, p. 1059026. DOI : 10.3389/frobt.2022.1059026.Theses
Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion
Lausanne, EPFL, 2023.Controlling the Microstructure and Composition of 3D Printed Soft Load-Bearing Hydrogels
Lausanne, EPFL, 2023.Posters
Exploring Dynamically Controlled Frisbee Throws Using a Highly Compliant Robotic Arm
Robosoft 2023 6th IEEE-RAS International Conference on Soft Robotics, Singapore, April 3-7, 2023.2022
Journal Articles
Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput
Ieee Transactions On Medical Robotics And Bionics. 2022. Vol. 4, num. 3, p. 570 – 577. DOI : 10.1109/TMRB.2022.3192763.Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation
Frontiers In Robotics And Ai. 2022. Vol. 9, p. 878111. DOI : 10.3389/frobt.2022.878111.Morphological Sensitivity and Falling Behavior of Paper V-Shapes
Artificial Life. 2022. Vol. 27, num. 3-4, p. 204 – 219. DOI : 10.1162/artl_a_00340.A Wearable Smart Glove and Its Application of Pose and Gesture Detection to Sign Language Classification
IEEE Robotics and Automation Letters. 2022. Vol. 7, num. 4, p. 10589 – 10596. DOI : 10.1109/LRA.2022.3191232.An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle
IEEE Robotics and Automation Letters. 2022. Vol. 7, num. 4, p. 11410 – 11417. DOI : 10.1109/LRA.2022.3192887.Robotic automation and unsupervised cluster assisted modeling for solving the forward and reverse design problem of paper airplanes
Scientific Reports. 2022. Vol. 13, num. 1, p. 4212. DOI : 10.1038/s41598-023-31395-0.Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation
IEEE Robotics and Automation Magazine. 2022. Vol. 29, num. 4, p. 78 – 91. DOI : 10.1109/MRA.2022.3198821.Building a bridge to Robot CoSpace
2022.Action augmentation of tactile perception for soft-body palpation
Soft Robotics. 2022. Vol. 9, num. 2, p. 280 – 292. DOI : 10.1089/soro.2020.0129.A comparison of approaches for including connectivity in systematic conservation planning
Journal of Applied Ecology. 2022. Vol. 59, num. 10, p. 2507 – 2519. DOI : 10.1111/1365-2664.14251.Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design
Soft Robotics. 2022. DOI : 10.1089/soro.2021.0077.Conference Papers
Leveraging Embodied Intelligence for Dexterous Robotic Manipulators Through Iterative Co-design
2022. International Workshop on Embodied Intelligence, Online, Mars 24-26, 2021. DOI : 10.1088/1757-899X/1261/1/012009.Simulation and Fabrication of Soft Robots with Embedded Skeletons
2022. 2022 International Conference on Robotics and Automation (ICRA). p. 5205 – 5211. DOI : 10.1109/ICRA46639.2022.9811844.Bio-inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation
2022. IROS 2022 Kyoto – The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, October 23-27, 2022. DOI : 10.1109/IROS47612.2022.9981310.Automatic Co-Design of Aerial Robots Using a Graph Grammar
2022. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, JAPAN, Oct 23-27, 2022. p. 11260 – 11267. DOI : 10.1109/IROS47612.2022.9982013.Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties
2022. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). p. 300 – 305. DOI : 10.1109/RoboSoft54090.2022.9762138.Complexity and Similarity Metrics for Unsupervised Identification of Programming Methods for Robot Cooking Tasks
2022. 15th International Workshop on Human-Friendly Robotics (HFR), Delft, Netherlands, Septembre 22-23, 2022. p. 61 – 73. DOI : 10.1007/978-3-031-22731-8_5.Exploration of Human-Robot Collaboration Methods for Iterative Design Optimization of Paper Airplanes
2022. International Workshop on Human-Friendly Robotics (HFR), Delft, The Netherlands, September 22-23, 2022. p. 131 – 145. DOI : 10.1007/978-3-031-22731-8_10.Soft Passive Swimmer Optimization: From Simulation to Reality Using Data-Driven Transformation
2022. 5th IEEE-RAS International Conference on Soft Robotics (RoboSoft 2022), Edinburgh, Scotland, UK, April 4-8, 2022. p. 328 – 333. DOI : 10.1109/RoboSoft54090.2022.9762148.Theses
Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation
Lausanne, EPFL, 2022.Posters
Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC
Robosoft 2023 6th IEEE-RAS International Conference on Soft Robotics, Singapore, April 3-7, 2023.Talks
Soft Sensorized Physical Twin for Harvesting Raspberries
5th International Conference on Soft Robotics (RoboSoft 2022), Edinburgh, Scotland, April 4-8, 2022.2021
Journal Articles
Using redundant and disjoint time-variant soft robotic sensors for accurate static state estimation
IEEE Robotics and Automation Letters. 2021. Vol. 6, num. 2, p. 2099 – 2105. DOI : 10.1109/LRA.2021.3061399.Bridging the divide between ecological forecasts and environmental decision making
Ecosphere. 2021. Vol. 12, num. 12, p. e03869. DOI : 10.1002/ecs2.3869.3D printable sensorized soft gelatin hydrogel for multi-material soft structures
IEEE Robotics and Automation Letters. 2021. Vol. 6, num. 3, p. 5269 – 5275. DOI : 10.1109/LRA.2021.3072600.Compliant Sensorized Testing Device to Provide a Model-Based Estimation of the Cooking Time of Vegetables
2021. DOI : 10.17863/CAM.66275.Reality-assisted evolution of soft robots through large-scale physical experimentation: a review
Artificial Life. 2021. Vol. 26, num. 4, p. 484 – 506. DOI : 10.1162/artl_a_00330.Online morphological adaptation for tactile sensing augmentation
Frontiers in Robotics and AI. 2021. Vol. 8. DOI : 10.3389/frobt.2021.665030.Soft self-healing fluidic tactile sensors with damage detection and localization abilities
Sensors. 2021. Vol. 21, num. 24, p. 8284. DOI : 10.3390/s21248284.Wrist-driven passive grasping: interaction-based trajectory adaption with a compliant anthropomorphic hand
Bioinspiration & Biomimetics. 2021. Vol. 16, num. 2, p. 26024. DOI : 10.1088/1748-3190/abe345.Underwater soft robot modeling and control with differentiable simulation
IEEE Robotics and Automation Letters. 2021. Vol. 6, num. 3, p. 4994 – 5001. DOI : 10.1109/LRA.2021.3070305.Conference Papers
Sensing soft robot shape using imus: An experimental investigation
2021. International Symposium on Experimental Robotics. p. 543 – 552. DOI : 10.1007/978-3-030-71151-1_48.Bioinspired soft bendable peristaltic pump exploiting ballooning for high volume throughput
2021. 2021 20th International Conference on Advanced Robotics (ICAR). p. 1 – 6. DOI : 10.1109/ICAR53236.2021.9659323.Detangling hair using feedback-driven robotic brushing
2021. 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft). p. 487 – 494. DOI : 10.1109/RoboSoft51838.2021.9479221.Jamming joints for stiffness and posture control with an anthropomorphic hand
2021. 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft). p. 134 – 140. DOI : 10.1109/RoboSoft51838.2021.9479352.Closed-Loop Robotic Cooking of Scrambled Eggs with a Salinity-based ‘Taste’Sensor
2021. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), ELECTR NETWORK, SEP 27-OCT 01, 2021. p. 594 – 600. DOI : 10.1109/IROS51168.2021.9636750.Patents
Wearable glove with hybrid resistive-pressure sensors
US11625096; US2021373663.
2021.