Project Description
This project aims to design robots for exploration, search-and-rescue, or surveillance applications. Within these contexts, the robots have to deal with very complex terrains, such as semi-collapsed buildings, deep caverns, or forests with a lot of vegetation. Autonomous robots are appealing for these tasks due to their ability to explore areas that are risky and inaccessible to humans. However, most of the existing mobile robots use only one locomotion strategy, such as rolling, walking, flying, hovering, climbing, swimming, crawling, or jumping. Using only one locomotion strategy limits the robots’ flexibility and adaptability to different environments. In a search-and-rescue scenario there is a need to quickly fly over extended areas, so the use of a winged robot is appropriate. However, careful exploration in confined environments or near the ground is challenging for flying robots and terrestrial locomotion is more energy-efficient over short distances. For these reasons, robots capable of both ground and flying-hovering locomotion are well suited to navigate complex environments.
In this project we propose to use a new approach which we call ”Adaptive Morphology”: parts of the structure of a robot are shared between the different modes of locomotion. This is in contrast to a more conventional approach where a second locomotion structure is added to an existing robot.
The Adaptive Morphology approach also allows the robot s’ structure to self-adjust to adapt to the locomotion mode. Therefore, the efficiency of each mode of locomotion can be optimized through changes in the corresponding morphology.
We aim to make adaptive deployable wings to improve the mobility of a flying robot; wing shape s could be modified to increase the efficiency of forward flight, hover flight, and displacement on the ground. For example, wings could be fully deployed for flying outdoors and reduced for hover flight and ground modes.
DALER, Deployable Air Land Exploration Robots, in a Search-and-Rescue scenario.
First prototype of DALER project
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[July 2013] A Flying Robot with Adaptive Morphology for Multi-Modal Locomotions
At the Laboratory of Intelligent Systems we are developing a novel flying platform which has the ability to move on the ground by using its wings only. Using the wings as whegs to move on rough terrains instead of adding an additional structure to the robot allows to minimize its structural mass. Therefore, this design minimizes the total weight of the platform, and thus minimizes the impact on the flight performance of the robot. The morphology of the robot is optimized for ground speed. It can move forward at 0.2 m/s (0.7 BL/s), and can rotate on spot at 25°/s. The robot is capable of walking with different gaits, it can move on different surfaces, it can overcome high obstacles, and can also navigate in rough terrains.
Publications
2024 Field Guide to Northern Tree-related Microhabitats: Descriptions and size limits for their inventory in boreal and hemiboreal forests of Europe and North America R. Bütler Sauvain ; L. Larrieu ; L. F. Lunde ; M. Maxence ; B. Nordén et al.
Swiss Federal Institute for Forest, Snow and Landscape Research WSL, Switzerland , 2024. Comparison of Three Viral Nucleic Acid Preamplification Pipelines for Sewage Viral Metagenomics X. Fernandez Cassi ; T. Kohn
Food and Environmental Virology . 2024. DOI : 10.1007/s12560-024-09594-3. How to Support Students to Develop Skills that Promote Sustainability S. R. Isaac ; J. de Lima
Teaching Transversal Skills for Engineering Studens: A Practical Handbook of Activities with Tangibles ; EPFL , 2024. How to Support Students Giving Each Other Constructive Feedback, Especially When It Is Difficult to Hear S. R. Isaac ; J. de Lima
Teaching Transversal Skills for Engineering Studens: A Practical Handbook of Activities with Tangibles ; EPFL , 2024. How teachers can use the 3T PLAY trident framework to design an activity that develops transversal skills S. R. Isaac ; J. de Lima
Teaching Transversal Skills for Engineering Studens: A Practical Handbook of Activities with Tangibles ; EPFL , 2024. Radio-Activities: Architecture and Broadcasting in Cold War Berlin A. Thiermann
Cambridge, MA; London : MIT Press , 2024. All That is Solid A. Thiermann
Transcalar Prospects in Climate Crisis ; Zurich : Lars Müller , 2024. Studies of crystal collimation for heavy ion operation at the LHC R. Cai / M. Seidel ; R. Bruce (Dir.)
Lausanne , EPFL , 2024. Querying the Digital Archive of Science: Distant Reading, Semantic Modelling and Representation of Knowledge A. Volynskaya / J. Baudry ; J-F. Bert (Dir.)
Lausanne , EPFL , 2024. Hybrid organic/metal-oxide shells on semiconductor nanocrystals via colloidal atomic layer deposition O. Segura Lecina / R. Buonsanti (Dir.)
Lausanne , EPFL , 2024. Electrical and Optical Manifestations of Flat Band Physics in Van der Waals Materials G. Pasquale / A. Kis (Dir.)
Lausanne , EPFL , 2024. Plasmonically enhanced molecular junctions for investigation of atomic-scale fluctuations in self-assembled monolayers S. P. Amirtharaj / C. M. G. Galland (Dir.)
Lausanne , EPFL , 2024. Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation L. Huber / A. Billard (Dir.)
Lausanne , EPFL , 2024. Quantifying the effects of rainfall temporal variability on landscape evolution processes T. Lian ; N. Peleg ; S. Bonetti
EGU 2024, Viena, April 14–19, 2024. Towards a metabolic theory of catchments: scaling of water and carbon fluxes with size F. Bassani ; S. Fatichi ; S. Bonetti
EGU General Assembly 2024, Vienna, Austria, April 14-19, 2024. Impact of CO2-rich seawater injection on the flow properties of basalts E. Stavropoulou ; C. Griner ; L. Laloui
International Journal of Greenhouse Gas Control . 2024-04-19. Vol. 134 , p. 104128. DOI : 10.1016/j.ijggc.2024.104128. TSLAM: a tag-based object-centered monocular navigation system for augmented manual woodworking. S. Andrea ; H-B. Yang ; G. Julien ; W. Yves
Construction Robotics . 2024-04-16. Vol. 8 , num. 4 . DOI : 10.1007/s41693-024-00118-w. Water weakening and the compressive brittle strength of carbonates: Influence of fracture toughness and static friction C. Noël ; B. Fryer ; P. Baud ; M. Violay
International Journal of Rock Mechanics and Mining Sciences . 2024. Vol. 177 , p. 105736. DOI : 10.1016/j.ijrmms.2024.105736. Integration of the Pilatus3 detector for soft X-ray diagnostics on TCV S. Masillo
25th Topical Conference on High Temperature Plasma Diagnostics HTPD 2024, Asheville, North Carolina, 21 – 25 April 2024. An extension of the stochastic sewing lemma and applications to fractional stochastic calculus T. Matsuda ; N. Perkowski
Forum Of Mathematics Sigma . 2024-04-11. Vol. 12 , p. e52. DOI : 10.1017/fms.2024.32. Capsizing due to friction-induced twist in the failure of stopper knots P. Johanns ; P. M. Reis
Extreme Mechanics Letters . 2024-02-19. Vol. 68 , p. 102134. DOI : 10.1016/j.eml.2024.102134. A CTCF-dependent mechanism underlies the Hox timer relation to a segmented body plan H. Rekaik ; D. Duboule
Current Opinion In Genetics & Development . 2024-04-01. Vol. 85 , p. 102160. DOI : 10.1016/j.gde.2024.102160. Gradient High-Q Dielectric Metasurfaces for Broadband Sensing and Control of Vibrational Light-Matter Coupling F. U. Richter ; I. Sinev ; S. Zhou ; A. Leitis ; S-H. Oh et al.
Advanced Materials . 2024-04-09. DOI : 10.1002/adma.202314279. SOMOphilic alkyne vs radical-polar crossover approaches: The full story of the azido-alkynylation of alkenes J. A. Borrel ; J. Waser
Beilstein Journal Of Organic Chemistry . 2024-04-03. Vol. 20 , p. 701-713. DOI : 10.3762/bjoc.20.64. Dielectric elastomer actuator-based valveless pump as Fontan failure assist device: introduction and preliminary study A. Benouhiba ; A. M. Walter ; S. E. Jahren ; T. G. Martinez ; F. Clavica et al.
Interdisciplinary Cardiovascular And Thoracic Surgery . 2024-03-29. Vol. 38 , num. 4 , p. ivae041. DOI : 10.1093/icvts/ivae041. Comprehensive Memory Safety Validation: An Alternative Approach to Memory Safety K. Huang ; M. Payer ; Z. Qian ; J. Sampson ; G. Tan et al.
Ieee Security & Privacy . 2024-04-04. DOI : 10.1109/MSEC.2024.3379947. A Method of Moments Estimator for Interacting Particle Systems and their Mean Field Limit G. A. Pavliotis ; A. Zanoni
Siam-Asa Journal On Uncertainty Quantification . 2024-01-01. Vol. 12 , num. 2 , p. 262-288. DOI : 10.1137/22M153848X. An aircraft assembly process formalism and verification method based on semantic modeling and MBSE X. Zheng ; X. Hu ; J. Lu ; R. Arista ; J. Lentes et al.
Advanced Engineering Informatics . 2024-02-20. Vol. 60 , p. 102412. DOI : 10.1016/j.aei.2024.102412. Twisted pair transmission line coil – a flexible, self-decoupled and robust element for 7 T MRI J. Vliem ; Y. Xiao ; D. Wenz ; L. Xin ; W. Teeuwise et al.
Magnetic Resonance Imaging . 2024-02-19. Vol. 108 , p. 146-160. DOI : 10.1016/j.mri.2024.02.007. 3D Printing of Double Network Granular Elastomers with Locally Varying Mechanical Properties E. J. Baur ; B. Tiberghien ; E. Amstad
Advanced Materials . 2024-04-04. DOI : 10.1002/adma.202313189. Proliferation-driven mechanical compression induces signalling centre formation during mammalian organ development N. P. Shroff ; P. Xu ; S. Kim ; E. R. Shelton ; B. J. Gross et al.
Nature Cell Biology . 2024-04-03. DOI : 10.1038/s41556-024-01380-4. Spin-Reorientation-Driven Linear Magnetoelectric Effect in Topological Antiferromagnet Cu3TeO6 V. Kisicek ; D. Dominko ; M. Culo ; Z. Rapljenovic ; M. Kuvezdic et al.
Physical Review Letters . 2024-02-26. Vol. 132 , num. 9 , p. 096701. DOI : 10.1103/PhysRevLett.132.096701. Is There a Special Role for Ovarian Hormones in the Pathogenesis of Lobular Carcinoma? R. L. Flaherty ; G. Sflomos ; C. Brisken
Endocrinology . 2024-03-29. Vol. 165 , num. 5 , p. bqae031. DOI : 10.1210/endocr/bqae031. Stick-slip-to-stick transition of liquid oscillations in a U-shaped tube A. Bongarzone ; F. Gallaire
Physical Review Fluids . 2024-03-19. Vol. 9 , num. 3 , p. 034401. DOI : 10.1103/PhysRevFluids.9.034401. Impact of beam-coupling impedance on the Schottky spectrum of bunched beam C. Lannoy ; K. Lasocha ; T. Pieloni ; D. Alves ; N. Mounet
Journal Of Instrumentation . 2024-03-01. Vol. 19 , num. 3 , p. P03017. DOI : 10.1088/1748-0221/19/03/P03017. Diffusion of brain metabolites highlights altered brain microstructure in type C hepatic encephalopathy: a 9.4 T preliminary study J. Mosso ; G. Briand ; K. Pierzchala ; D. Simicic ; A. Sierra et al.
Frontiers In Neuroscience . 2024-03-20. Vol. 18 , p. 1344076. DOI : 10.3389/fnins.2024.1344076. Teaching about non-deterministic physics: an almost forgotten fundamental contribution of Marie Curie G. Margaritondo
European Journal Of Physics . 2024-05-01. Vol. 45 , num. 3 , p. 035803. DOI : 10.1088/1361-6404/ad312e. Learning Weakly Convex Regularizers for Convergent Image-Reconstruction Algorithms A. Goujon ; S. J. Neumayer ; M. Unser
Siam Journal On Imaging Sciences . 2024-01-01. Vol. 17 , num. 1 , p. 91-115. DOI : 10.1137/23M1565243. An interior penalty coupling strategy for isogeometric non-conformal Kirchhoff-Love shell patches G. Guarino ; P. Antolin ; A. Milazzo ; A. Buffa
Engineering With Computers . 2024-03-27. DOI : 10.1007/s00366-024-01965-5. On the Arithmetic and Geometric Fusion of Beliefs for Distributed Inference M. Kayaalp ; Y. Inan ; E. Telatar ; A. H. Sayed
Ieee Transactions On Automatic Control . 2024-04-01. Vol. 69 , num. 4 , p. 2265-2280. DOI : 10.1109/TAC.2023.3330405. Alpha1-antitrypsin improves survival in murine abdominal sepsis model by decreasing inflammation and sequestration of free heme J. D. Zemtsovski ; S. Tumpara ; S. Schmidt ; V. Vijayan ; A. Klos et al.
Frontiers In Immunology . 2024-03-18. Vol. 15 , p. 1368040. DOI : 10.3389/fimmu.2024.1368040. Quantitative prediction of crystallization in laser powder bed fusion of a Zr-based bulk metallic glass with high oxygen content N. Sohrabi ; T. Ivas ; J. Jhabvala ; J. E. K. Schawe ; J. F. Loffler et al.
Materials & Design . 2024-03-01. Vol. 239 , p. 112744. DOI : 10.1016/j.matdes.2024.112744. A cut-cell method for the numerical simulation of 3D multiphase flows with strong interfacial effects A. Caboussat ; J. Hess ; A. Masserey ; M. Picasso
Journal Of Computational Physics . 2024-02-26. Vol. 504 , p. 112846. DOI : 10.1016/j.jcp.2024.112846. Can Gas Consumption Data Improve the Performance of Electricity Theft Detection? W. Liao ; R. Zhu ; T. Ishizaki ; Y. Li ; Y. Jia et al.
Ieee Transactions On Industrial Informatics . 2024-03-18. DOI : 10.1109/TII.2024.3371991. Design and in vitro Characterization of a Wearable Multisensing System for Hydration Monitoring S. Tonello ; A. Zacchini ; A. Galli ; A. Golparvar ; A. Meimandi et al.
Ieee Transactions On Instrumentation And Measurement . 2024-01-01. Vol. 73 , p. 1-11. DOI : 10.1109/TIM.2024.3369161. Multi-Ported GC-eDRAM Bitcell with Dynamic Port Configuration and Refresh Mechanism R. Golman ; R. Giterman ; A. Teman
Journal Of Low Power Electronics And Applications . 2024-03-01. Vol. 14 , num. 1 , p. 2. DOI : 10.3390/jlpea14010002. On the Sums over Inverse Powers of Zeros of the Hurwitz Zeta Function and Some Related Properties of These Zeros S. Sekatskii
Symmetry-Basel . 2024-03-01. Vol. 16 , num. 3 , p. 326. DOI : 10.3390/sym16030326. Realization of Organocerium-Based Fullerene Molecular Materials Showing Mott Insulator-Type Behavior P. Pandey ; X. Wang ; H. Gupta ; P. W. Smith ; E. Lapsheva et al.
Acs Applied Materials & Interfaces . 2024-03-27. Vol. 16 , num. 14 , p. 17857-17869. DOI : 10.1021/acsami.3c18766. Mean-field transport equations and energy theorem for plasma edge turbulent transport R. A. J. Coosemans ; W. Dekeyser ; M. Baelmans
Journal Of Plasma Physics . 2024-03-15. Vol. 90 , num. 2 , p. 905900202. DOI : 10.1017/S0022377824000163. Microbial genome collection of aerobic granular sludge cultivated in sequencing batch reactors using different carbon source mixtures J. S. Saini ; A. Adler ; L. Cardona ; P. N. R. Ramirez ; R. Pei et al.
Microbiology Resource Announcements . 2024-03-27. DOI : 10.1128/mra.00102-24. The multimodality cell segmentation challenge: toward universal solutions J. Ma ; R. Xie ; S. Ayyadhury ; C. Ge ; A. Gupta et al.
Nature Methods . 2024-03-26. DOI : 10.1038/s41592-024-02233-6. Search for Inelastic Dark Matter in Events with Two Displaced Muons and Missing Transverse Momentum in Proton-Proton Collisions at p s=13 TeV A. Hayrapetyan ; A. Tumasyan ; W. Adam ; J. W. Andrejkovic ; T. Bergauer et al.
Physical Review Letters . 2024-01-23. Vol. 132 , num. 4 , p. 041802. DOI : 10.1103/PhysRevLett.132.041802. Tumor-educated Gr1+CD11b+cells drive breast cancer metastasis via OSM/IL-6/JAK-induced cancer cell plasticity S. Peyvandi ; M. Bulliard ; A. Yilmaz ; A. Kauzlaric ; R. Marcone et al.
Journal Of Clinical Investigation . 2024-03-15. Vol. 134 , num. 6 , p. e166847. DOI : 10.1172/JCI166847. Dynamics of the charge transfer to solvent process in aqueous iodide J. Lan ; M. Chergui ; A. Pasquarello
Nature Communications . 2024-03-21. Vol. 15 , num. 1 , p. 2544. DOI : 10.1038/s41467-024-46772-0. Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization A. R. Manzoori ; D. Malatesta ; J. Primavesi ; A. Ijspeert ; M. Bouri
Frontiers In Bioengineering And Biotechnology . 2024-03-12. Vol. 12 , p. 1324587. DOI : 10.3389/fbioe.2024.1324587. Boosting likelihood learning with event reweighting S. Chen ; A. Glioti ; G. Panico ; A. Wulzer
Journal Of High Energy Physics . 2024-03-20. num. 3 , p. 117. DOI : 10.1007/JHEP03(2024)117. Redox Properties of Flavin in BLUF and LOV Photoreceptor Proteins from Hybrid QM/MM Molecular Dynamics Simulation M. Kilic ; B. Ensing
Journal Of Physical Chemistry B . 2024-03-22. Vol. 128 , num. 13 , p. 3069-3080. DOI : 10.1021/acs.jpcb.3c06245.