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MEAM Ph.D. Thesis Defense: “Reactive Planning with Legged Robots in Unknown Environments”

Unlike the problem of safe task and motion planning in a completely known environment, the setting where the obstacles in a robot’s workspace are not initially known and are incrementally revealed online has so far received little theoretical interest, with existing algorithms usually demanding constant deliberative replanning in the presence of unanticipated conditions. Moreover, even […]

GRASP On Robotics: “Biorobotics for Personal Assistance – Translational Research and Opportunities for Human-Centered Developments”

Abstract: The seminar will focus on the opportunities and challenges offered by the digital transformation of healthcare which was accelerated in the COVID-19 Pandemia. In this framework rehabilitation and social robotics can play a fundamental role as enabling technologies for providing innovative therapies and services to patients even at home or in remote environments. In […]

MEAM Seminar: “Bilevel Optimization for Control, Learning, and Multi-contact Robotics”

Whether operating in a manufacturing plant or assisting within the home, many robotic tasks requires safe and controlled interaction with a complex and changing world. In this talk, I will present our recent progress on learning and control in contact rich settings. In the first segment, I will show how integrating the non-smooth structure of […]

MEAM Seminar: “How to Make Your Ocean Smarter”

Our oceans drive worldwide weather-climate systems; our rivers serve as nutrient conduits; and our marine ecosystems house the largest repository of biodiversity and mineral resources on the planet. Humans have relied on rivers, lakes, and oceans for transportation, energy generation, farming, and recreation throughout our history. And today, robots are critical tools in our stewardship […]

MEAM/GRASP Seminar: “Saltatorial Locomotion on Terrain Obstacles”

Robots often struggle to move through complicated environments from cluttered living spaces to treetop canopies where humans and animals flit with ease. Jumping is an exciting locomotion mode that can enable small ground-based robots to maneuver around large obstacles and gaps in complicated environments. A high-power jumping robot can rapidly traverse obstacles, but the resulting […]

MEAM PhD Thesis Defense: “Delivering Expressive and Personalized Fingertip Tactile Cues”

Wearable haptic devices have seen growing interest in recent years, but providing realistic tactile feedback is not a challenge that is soon to be solved. Daily interactions with physical objects elicit complex sensations at the fingertips. Furthermore, human fingertips exhibit a broad range of physical dimensions and perceptive abilities, adding increased complexity to the task […]

MEAM Seminar: “Robots and Mechatronic Systems can help us identify, assess, and treat Motor and Cognitive Impairment after Brain Injury”

The US Centers for Disease Control (CDC) indicate that in 2017 about 12.7% of adults and children had some form of disability. Stroke is the leading cause of serious long-term disability with ~7 million in the US, which will increase by 20.5% by 2030. Cerebral Palsy is the leading cause of serious long-term disability in […]

MEAM Seminar: “Robot Design Concepts for Intuitive Physical Human-Robot Interaction”

Physical human-robot interaction (pHRI) aims at taking advantage of the complementary capabilities of robots and humans. One of the key challenges in pHRI is to provide a high-bandwidth human-robot interaction that is safe and intuitive for the human user. To this end, it is proposed in this work to revisit the design of robots in […]

MEAM Doctoral Dissertation Defense: “Estimation, Mapping and Navigation with Micro Aerial Vehicles for Infrastructure Inspection”

Multi-rotor Micro Aerial Vehicles (MAV) have become popular robotic platforms in the last decade due to their manufacturability, agility and diverse payload options. Amongst the most promising applications areas of MAVs are inspection, air delivery, surveillance, search and rescue, real estate, entertainment and photography to name a few. While GPS offers an easy solution for […]

MEAM Doctoral Dissertation Defense: “High-Dimensional Design Evaluations for Self-Aligning Geometries”

Physical connectors with self-aligning geometry aid in the docking process for many robotic and automatic control systems such as robotic self-reconfiguration and air-to-air refueling. This self-aligning geometry provides a wider range of acceptable error tolerance in relative pose between the two rigid objects, increasing successful docking chances. In a broader context, mechanical alignment properties are […]

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