Soft Robotics

Most robots today are designed and built as dishwashers: a frame made of metal and plastic, a few sensors, motors, and a CPU. This is OK for many applications, but it can miss out the compliance and adaptability that soft materials could provide. We are interested in the study, design, and control of soft robotic technologies that amplify the sensory-motor capabilities and human interaction of robots without increasing their complexity and weight.  For example, we work on smart soft grippers that manipulate complex objects without complex software, artificial feathers for agile drones, insect-inspired flexible compound eyes, variable stiffness materials, edible robots, foldable drones, modular tensegrity robots, and textile-based exoskeletons.



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Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

R. Kanno; B. Kwak; M. Pankhurst; J. Shintake; D. Floreano 

Advanced Intelligent Systems. 2024-03-08. Vol. 6, num. 5, p. 2300473. DOI : 10.1002/aisy.202300473.
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Fast-Response Variable-Stiffness Magnetic Catheters for Minimally Invasive Surgery

Y. Piskarev; Y. Sun; M. Righi; Q. Boehler; C. Chautems et al. 

Advanced Science. 2024-01-15. Vol. 11, num. 12, p. 1-14. DOI : 10.1002/advs.202470069.
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Towards edible robots and robotic food

D. Floreano; B. Kwak; M. Pankhurst; J. Shintake; M. Caironi et al. 

Nature Reviews Materials. 2024.  p. online. DOI : 10.1038/s41578-024-00688-9.

Filiform Variable Stiffness Technologies for Medical Robotics

Y. Piskarev / D. Floreano (Dir.)  

Lausanne, EPFL, 2024. 


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A Soft Gripper with Granular Jamming and Electroadhesive Properties

Y. Piskarev; A. Devincenti; V. Ramachandran; P-E. Bourban; M. Dickey et al. 

Advanced Intelligent Systems. 2023-03-16. Vol. 5, num. 6, p. 2200409. DOI : 10.1002/aisy.202200409.


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A Variable Stiffness Magnetic Catheter Made of a Conductive Phase-Change Polymer for Minimally Invasive Surgery

Y. Piskarev; J. Shintake; C. Chautems; J. Lussi; Q. Boehler et al. 

Advanced Functional Materials. 2022-02-06.  p. 1-11, 2107662. DOI : 10.1002/adfm.202107662.


Variable-Stiffness Tensegrity Modular Robots

D. Zappetti / D. Floreano (Dir.)  

Lausanne, EPFL, 2021. 
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Seeking Quality Diversity in Evolutionary Co-design of Morphology and Control of Soft Tensegrity Modular Robots

E. Zardini; D. Zappetti; D. Zambrano; G. Iacca; D. Floreano 

2021. The Genetic and Evolutionary Computation Conference (GECCO 2021), Lille, France (virtual conference), July 10-14, 2021. DOI : 10.1145/3449639.3459311.


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Lighter and Stronger: Cofabricated Electrodes and Variable Stiffness Elements in Dielectric Actuators

Y. Piskarev; J. Shintake; V. Ramachandran; N. Baugh; M. D. Dickey et al. 

Advanced Intelligent Systems. 2020-07-23. Vol. 2, num. 10, p. 1-8, 2000069. DOI : 10.1002/aisy.202000069.
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Bio-Inspired Tensegrity Fish Robot

J. Shintake; D. Zappetti; T. Peter; Y. Ikemoto; D. Floreano 

2020-05-29. 2020 IEEE International Conference on Robotics and Automation (ICRA), virtual conference (originally Paris, France), 1-5 June 2020 (originally 31 May – 4 Jun). p. 2887-2892. DOI : 10.1109/ICRA40945.2020.9196675.
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Variable-stiffness tensegrity spine

D. Zappetti; R. Arandes Vilagrasa; E. Ajanic; D. Floreano 

Smart Materials and Structures. 2020-04-09. Vol. 29, num. 7, p. 075013. DOI : 10.1088/1361-665X/ab87e0.
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Phase Changing Materials-Based Variable-Stiffness Tensegrity Structures

D. Zappetti; S. H. Jeoung; J. Shintake; D. Floreano 

Soft Robotics. 2020. Vol. 7, num. 3, p. 362-369. DOI : 10.1089/soro.2019.0091.


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A Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery

C. Chautems; A. Tonazzini; Q. Boehler; D. Floreano; B. Nelson 

Advanced Intelligent Systems. 2019-09-11. Vol. 2, num. 6, p. 1900086. DOI : 10.1002/aisy.201900086.
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Stretchable pumps for soft machines

V. Cacucciolo; J. Shintake; Y. Kuwajima; S. Maeda; D. Floreano et al. 

Nature. 2019-08-22. Vol. 572, p. 516–519. DOI : 10.1038/s41586-019-1479-6.

Wearable Technologies for Embodied Human-Robot Interaction

C. Rognon / D. Floreano (Dir.)  

Lausanne, EPFL, 2019. 
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Soft haptic device to render the sensation of flying like a drone

C. Rognon; M. Koehler; C. Duriez; D. Floreano; A. M. Okamura 

IEEE Robotics and Automation Letters. 2019-07-01. Vol. 4, num. 3, p. 2524-2531. DOI : 10.1109/LRA.2019.2907432.
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Inquiry-Based Learning with RoboGen: An Open-Source Software and Hardware Platform for Robotics and Artificial Intelligence

J. E. Auerbach; A. Concordel; P. M. Kornatowski; D. Floreano 

IEEE Transactions on Learning Technologies. 2019. Vol. 12, num. 3, p. 356-369. DOI : 10.1109/TLT.2018.2833111.


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All‐Fabric Wearable Electroadhesive Clutch

V. Ramachandran; J. Shintake; D. Floreano 

Advanced Materials Technologies. 2018-10-23. Vol. 4, num. 2, p. 1800313. DOI : 10.1002/admt.201800313.
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Soft Biomimetic Fish Robot Made of Dielectric Elastomer Actuators

J. Shintake; V. Cacucciolo; H. Shea; D. Floreano 

Soft Robotics. 2018-06-29. Vol. 5, num. 4, p. 466-474. DOI : 10.1089/soro.2017.0062.
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A Soft Robot for Random Exploration of Terrestrial Environments

S. Mintchev; D. Zappetti; J. Willemin; D. Floreano 

2018-06-15. International Conference on Robotics and Automation, Brisbane, Australia, 21-25 May 2018. p. 7492-7497. DOI : 10.1109/ICRA.2018.8460667.
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Variable stiffness strip with strain sensing for wearable robotics

A. Tonazzini; J. Shintake; C. Rognon; V. Ramachandran; S. Mintchev et al. 

2018-07-09. 2018 IEEE International Conference on Soft Robotics (RoboSoft), Livorno, April 24-28, 2018. p. 485-490. DOI : 10.1109/ROBOSOFT.2018.8405373.
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Bioinspired dual-stiffness origami

S. Mintchev; J. Shintake; D. Floreano 

Science Robotics. 2018. Vol. 3, num. 20, p. eaau0275. DOI : 10.1126/scirobotics.aau0275.
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Soft Robotic Grippers

J. Shintake; V. Cacucciolo; D. Floreano; H. Shea 

Advanced Materials. 2018. Vol. 30, num. 29, p. 1707035. DOI : 10.1002/adma.201707035.
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Ultra-stretchable strain sensors using carbon black-filled elastomer composites and comparison of capacitive versus resistive sensors

J. Shintake; Y. Piskarev; S. Jeong; D. Floreano 

Advanced Materials Technologies. 2018. Vol. 3, p. 1700284. DOI : 10.1002/admt.201700284.


A Variable Stiffness Catheter Controlled with an External Magnetic Field

C. Chautems; A. Tonazzini; D. Floreano; B. Nelson 

2017. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 24–28, 2017. DOI : 10.1109/IROS.2017.8202155.
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Soft Pneumatic Gelatin Actuator for Edible Robotics

J. Shintake; H. A. Sonar; Y. Piskarev; J. Paik; D. Floreano 

2017. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 24–28. p. 6221-6226. DOI : 10.1109/IROS.2017.8206525.

Foldable Drones: from Biology to Technology

D. Floreano; S. Mintchev; J. Shintake 

2017. SPIE Bioinspiration, Biomimetics, and Bioreplication, Portland, Oregon, March 2017. p. 1016203-1-1016203-6. DOI : 10.1117/12.2259931.

Disentangling constraints using viability evolution principles in integrative modeling of macromolecular assemblies

G. E. Tamo; A. Maesani; S. Träger; M. Degiacomi; D. Floreano et al. 

Scientific Reports. 2017. Vol. 7, p. 235. DOI : 10.1038/s41598-017-00266-w.

Insect-Inspired Mechanical Resilience for Multicopters

S. Mintchev; S. D. de Rivaz; D. Floreano 

IEEE Robotics and Automation Letters. 2017. Vol. 2, p. 1248-1255. DOI : 10.1109/LRA.2017.2658946.


Biomimetic Underwater Robots Based on Dielectric Elastomer Actuators

J. Shintake; H. Shea; D. Floreano 

2016. IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14. p. 4957-4962. DOI : 10.1109/IROS.2016.7759728.

Variable Stiffness Fiber with Self-Healing Capability

A. Tonazzini; S. Mintchev; B. Schubert; B. Mazzolai; J. Shintake et al. 

Advanced Materials. 2016. Vol. 28, num. 46, p. 10105. DOI : 10.1002/adma.201602580.

Adaptive Morphology: A Design Principle for Multimodal and Multifunctional Robots

S. Mintchev; D. Floreano 

IEEE Robotics & Automation Magazine. 2016. Vol. 23, num. 3, p. 42-54. DOI : 10.1109/MRA.2016.2580593.

Darwinian Dynamics of Embodied Chaotic Exploration

Y. Shim; J. E. Auerbach; P. Husbands 

2016. GECCO ’16, Denver, Colorado, USA, 20-24 07 2016. p. 1053-1056. DOI : 10.1145/2908961.2931673.

Functional Soft Robotic Actuators Based on Dielectric Elastomers

J. Shintake / D. Floreano; H. Shea (Dir.)  

Lausanne, EPFL, 2016. 

Versatile soft grippers with intrinsic electroadhesion based on multifunctional polymer actuators

J. Shintake; S. Rosset; B. E. Schubert; D. Floreano; H. Shea 

Advanced Materials. 2016. Vol. 28, num. 2, p. 231-238. DOI : 10.1002/adma.201504264.

Memetic Viability Evolution for Constrained Optimization

A. Maesani; G. Iacca; D. Floreano 

IEEE Transactions on Evolutionary Computation. 2016. Vol. 20, num. 1, p. 125-144. DOI : 10.1109/TEVC.2015.2428292.


Fluctuation-driven neural dynamics reproduce Drosophila locomotor patterns

A. Maesani; P. Ramdya; S. Cruchet; K. Gustafson; R. Benton et al. 

Plos Computational Biology. 2015. Vol. 11, num. 11, p. e1004577. DOI : 10.1371/journal.pcbi.1004577.

An artificial elementary eye with optic flow detection and compositional properties

R. Pericet-Camara; M. K. Dobrzynski; R. Juston; S. Viollet; R. Leitel et al. 

Journal of the Royal Society Interface. 2015. Vol. 12, p. 20150414. DOI : 10.1098/rsif.2015.0414.

Variable Stiffness Actuator for Soft Robotics Using Dielectric Elastomer and Low-Melting-Point Alloy

J. Shintake; B. E. Schubert; S. Rosset; H. Shea; D. Floreano 

2015. International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 – October 02, 2015. p. 1097-1102. DOI : 10.1109/IROS.2015.7353507.

Rapid Evolution of Robot Gaits

J. E. Auerbach; G. H. M. Heitz; P. M. Kornatowski; D. Floreano 

2015. GECCO ’15, Madrid, Spain, July 11-15, 2015. p. 743-744. DOI : 10.1145/2739482.2764894.

A small-scale hyperacute compound eye featuring active eye tremor: application to visual stabilization, target tracking, and short-range odometry

F. Colonnier; A. Manecy; R. Juston; H. Mallot; R. Leitel et al. 

Bioinspiration & Biomimetics. 2015. Vol. 10, num. 2, p. 026002. DOI : 10.1088/1748-3190/10/2/026002.

DEA for soft robotics: 1-gram actuator picks up a 60-gram egg

J. Shintake; S. Rosset; B. E. Schubert; S. Mintchev; D. Floreano et al. 

2015. Electroactive Polymer Actuators and Devices (EAPAD), San Diego, March 2015. p. 94301S. DOI : 10.1117/12.2084043.

Viability evolutionary algorithms and applications to neuroscience and biology

A. Maesani / D. Floreano (Dir.)  

Lausanne, EPFL, 2015. 

A Foldable Antagonistic Actuator

J. Shintake; S. Rosset; B. E. Schubert; D. Floreano; H. Shea 

IEEE/ASME Transactions on Mechatronics. 2015. Vol. 20, num. 5, p. 1997-2008. DOI : 10.1109/TMECH.2014.2359337.

Rollable Multisegment Dielectric Elastomer Minimum Energy Structures for a Deployable Microsatellite Gripper

S. Araromi; I. Gavrilovich; J. Shintake; S. Rosset; M. Richard et al. 

IEEE/ASME Transactions on Mechatronics. 2015. Vol. 20, num. 1, p. 438. DOI : 10.1109/TMECH.2014.2329367.


Hardware Architecture and Cutting-Edge Assembly Process of a Tiny Curved Compound Eye

S. Viollet; S. Godiot; R. Leitel; W. Buss; P. Breugnon et al. 

Sensors. 2014. Vol. 14, num. 11, p. 21702-21721. DOI : 10.3390/s141121702.

Curved artificial compound-eyes for autonomous navigation

R. Leitel; A. Brückner; W. Buss; S. Viollet; R. Pericet Camara et al. 

2014. Micro-Optics, Brussels, Belgium, APR 14-16, 2014. DOI : 10.1117/12.2052710.

Soft Cells for Modular Robots

J. M. Germann / D. Floreano; R. Pfeifer (Dir.)  

Lausanne, EPFL, 2014. 

RoboGen: Robot Generation through Artificial Evolution

J. Auerbach; D. Aydin; A. Maesani; P. Kornatowski; T. Cieslewski et al. 

2014. Artificial Life 14: International Conference on the Synthesis and Simulation of Living Systems, New York, NY, USA, July 30-August 2, 2014. p. 136-137. DOI : 10.7551/978-0-262-32621-6-ch022.

Miniature artificial compound eyes for optic-flow-based robotic navigation

R. Pericet Camara; G. Bahi Vila; J. Lecoeur; D. Floreano 

2014. Workshop on Information Optics WIO2014, Neuchatel, Switzerland, July 7-11, 2014. p. 1-3. DOI : 10.1109/WIO.2014.6933290.

Soft Cells for Programmable Self-Assembly of Robotic Modules

J. M. Germann; A. Maesani; R. Pericet Camara; D. Floreano 

Soft Robotics. 2014. Vol. 1, num. 4, p. 239-245. DOI : 10.1089/soro.2014.0005.

Viability Principles for Constrained Optimization Using a (1+1)-CMA-ES

A. Maesani; D. Floreano 

2014. 13th International Conference on Parallel Problem Solving From Nature, Ljubljana, Slovenia, September 13-17, 2014. p. 272-281. DOI : 10.1007/978-3-319-10762-2_27.

Stretchable Electroadhesion for Soft Robots

J. M. Germann; B. E. Schubert; D. Floreano 

2014. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, USA, September 14-18, 2014. p. 3933-3938. DOI : 10.1109/IROS.2014.6943115.

Programmable Self-assembly with Chained Soft Cells: An Algorithm to Fold into 2-D Shapes

J. Germann; J. Auerbach; D. Floreano 

2014. Simulation of Adaptive Behavior 2014, Castellón, Spain, July 22-26, 2014. p. 220-229. DOI : 10.1007/978-3-319-08864-8_21.

Artificial Evolution by Viability Rather Than Competition

A. Maesani; P. R. Fernando; D. Floreano 

PLOS One. 2014. Vol. 9, num. 1, p. e86831. DOI : 10.1371/journal.pone.0086831.

Selection methods regulate evolution of cooperation in digital evolution

P. Lichocki; D. Floreano; L. Keller 

Journal of the Royal Society Interface. 2014. Vol. 11, num. 90, p. 20130743. DOI : 10.1098/rsif.2013.0743.


Soft Cell Simulator: A tool to study Soft Multi-Cellular Robots

J. M. Germann; A. Maesani; M. Stöckli; D. Floreano 

2013. IEEE International Conference on Robotics and Biomimetics, Shenzhen, China, December 12-14, 2013. p. 1300-1305. DOI : 10.1109/ROBIO.2013.6739644.

Variable stiffness material based on rigid low-melting-point-alloy-microstructures embedded in soft poly(dimethylsiloxane) (PDMS)

B. E. Schubert; D. Floreano 

RSC Advances. 2013. Vol. 3, num. 46, p. 24671-24679. DOI : 10.1039/c3ra44412k.

Miniature curved artificial compound eyes

D. Floreano; R. Pericet Camara; S. Viollet; F. Ruffier; A. Brückner et al. 

PNAS. 2013. Vol. 110, num. 23, p. 9332-9337. DOI : 10.1073/pnas.1219068110.

Effect of mechanical parameters on dielectric elastomer minimum energy structures

J. Shintake; S. Rosset; D. Floreano; H. Shea 

2013. Electroactive Polymer Actuators and Devices (EAPAD), San Diego, USA, March 10, 2013. p. 86872V. DOI : 10.1117/12.2009368.

Evolution of division of labor in artificial societies

P. Lichocki / D. Floreano; L. Keller (Dir.)  

Lausanne, EPFL, 2013. 

Hyper-flexible 1-D shape sensor

M. Dobrzynski; H. Vanderparre; R. Pericet Camara; G. L’Eplattenier; S. Lacour et al. 

2013. The 17th International Conference on Solid-State Sensors, Actuators and Microsystems, Barcelona, Spain, June 16-20, 2013. p. 1899-1902. DOI : 10.1109/Transducers.2013.6627163.

A Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive

L. Daler; A. Klaptocz; A. Briod; M. Sitti; D. Floreano 

2013. ICRA 13, Karlsruhe, May 6-7, 2013. p. 4433-4438. DOI : 10.1109/ICRA.2013.6631206.


Quantifying information transfer through a head attached vibrotactile display: principles for design and control

M. Dobrzynski; S. Mejri; S. Wischmann; D. Floreano 

IEEE Transactions on Biomedical Engineering. 2012. Vol. 59, num. 7, p. 2011-2018. DOI : 10.1109/TBME.2012.2196433.

Contactless deflection sensing of concave and convex shapes assisted by soft mirrors

M. Dobrzynski; I. Halasz; R. Pericet Camara; D. Floreano 

2012. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. p. 4810-4815. DOI : 10.1109/IROS.2012.6385505.

Historical contingency affects signaling strategies and competitive abilities in evolving populations of simulated robots

S. Wischmann; D. Floreano; L. Keller 

PNAS. 2012. Vol. 109, num. 3, p. 864-868. DOI : 10.1073/pnas.1104267109.

An Active Connection Mechanism for Soft Modular Robots

J. M. Germann; M. Dommer; R. Pericet Camara; D. Floreano 

Advanced Robotics. 2012. Vol. 26, num. 7, p. 785-798. DOI : 10.1163/156855312X626325.

Vision Tape – a flexible compound vision sensor for motion detection and proximity estimation

M. Dobrzynski; R. Pericet Camara; D. Floreano 

IEEE Sensors Journal. 2012. Vol. 12, num. 5, p. 1131-1139. DOI : 10.1109/JSEN.2011.2166760.


Method for fabricating an artificial compound eye

J. Duparré; A. Brückner; F. Wippermann; J-C. Zufferey; D. Floreano et al. 

AT538406; EP2306230; WO2011039062; EP2306230.


CURVACE – CURVed Artificial Compound Eyes

R. Pericet Camara; M. Dobrzynski; G. L’Eplattenier; J-C. Zufferey; F. Expert et al. 

2011. 2nd European Future Technologies Conference and Exhibition 2011 (FET 11), Budapest, Hungary, May 4-6, 2011. p. 308-309. DOI : 10.1016/j.procs.2011.09.040.

Contactless deflection sensor for soft robots

M. Dobrzynski; R. Pericet Camara; D. Floreano 

2011. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, September 25-30, 2011. p. 1913-1918. DOI : 10.1109/IROS.2011.6048425.

SleepPic. Hardware Developments for a Wearable On-line Sleep and Wake Discrimination System

W. Karlen; D. Floreano 

2011. BIOSIGNALS 2011 – International Conference on Bio-inspired Systems and Signal Processing, Rome, Italy, January 26-29, 2011. p. 132-137.

Relatedness influences signal reliability in evolving robots

S. Mitri; D. Floreano; L. Keller 

Proceedings of the Royal Society B. 2011. Vol. 278, p. 378-383. DOI : 10.1098/rspb.2010.1407.


Evolving olfactory systems on the fly

P. Ramdya; R. Benton 

Trends In Genetics. 2010. Vol. 26, p. 307-316. DOI : 10.1016/j.tig.2010.04.004.

Hyperelastic pressure sensing with a liquid-embedded elastomer

Y-L. Park; C. Majidi; R. Kramer; P. Berard; R. J. Wood 

Journal Of Micromechanics And Microengineering. 2010. Vol. 20, num. 12, p. 125029. DOI : 10.1088/0960-1317/20/12/125029.

Adaptive Sleep-Wake Discrimination for Wearable Devices

W. Karlen; D. Floreano 

IEEE Transactions on Biomedical Engineering. 2010. Vol. 58, num. 4, p. 920-926. DOI : 10.1109/TBME.2010.2097261.

Insect Vision: A Few Tricks to Regulate Flight Altitude

D. Floreano; J-C. Zufferey 

Current Biology. 2010. Vol. 20, num. 19, p. R847-R849. DOI : 10.1016/j.cub.2010.08.022.

Evolutionary Synthesis of Communication-Based Aerial Swarms

S. Hauert / D. Floreano; J-C. Zufferey (Dir.)  

Lausanne, EPFL, 2010. 

Genetic representation and evolvability of modular neural controllers

P. Dürr; C. Mattiussi; D. Floreano 

IEEE Computational Intelligence Magazine. 2010. Vol. 5, num. 3, p. 10-19. DOI : 10.1109/MCI.2010.937319.

Steerable Miniature Jumping Robot

M. Kovac; M. Schlegel; J-C. Zufferey; D. Floreano 

Autonomous Robots. 2010. Vol. 28, num. 3, p. 295-306. DOI : 10.1007/s10514-009-9173-4.


The evolution of communication in robot societies

S. Mitri / D. Floreano; L. Keller (Dir.)  

Lausanne, EPFL, 2009. 

Do animat models always need a biological target organism?

S. Wischmann 

Adaptive Behavior. 2009. Vol. 17, num. 4, p. 343-345. DOI : 10.1177/1059712309340861.

The Evolution of Information Suppression in Communicating Robots with Conflicting Interests

S. Mitri; D. Floreano; L. Keller 

PNAS. 2009. Vol. 106, num. 37, p. 15786-15790. DOI : 10.1073/pnas.0903152106.

Novelty of Behaviour as a Basis for the Neuro-evolution of Operant Reward Learning

A. Soltoggio; B. Jones 

2009. Genetic and Evolutionary Computation Conference (GECCO 2009), Montréal Québec,Canada, July 8-12, 2009. p. 169–176. DOI : 10.1145/1569901.1569925.

Reverse-engineering of Artificially Evolved Controllers for Swarms of Robots

S. Hauert; J-C. Zufferey; D. Floreano 

2009. IEEE Congress on Evolutionary Computation, Trondheim, Norway, May 18-21, 2009. p. 55-61. DOI : 10.1109/CEC.2009.4982930.

Sleep and Wake Classification With ECG and Respiratory Effort Signals

W. Karlen; C. Mattiussi; D. Floreano 

IEEE Transactions on Biomedical Circuits and Systems. 2009. Vol. 3, p. 71-78. DOI : 10.1109/TBCAS.2008.2008817.

Evolved swarming without positioning information: an application in aerial communication relay

S. Hauert; J-C. Zufferey; D. Floreano 

Autonomous Robots. 2009. Vol. 26, num. 1, p. 21-32. DOI : 10.1007/s10514-008-9104-9.

Genetic Team Composition and Level of Selection in the Evolution of Cooperation

M. Waibel; L. Keller; D. Floreano 

IEEE Transactions on Evolutionary Computation. 2009. Vol. 13, num. 3, p. 648-660. DOI : 10.1109/TEVC.2008.2011741.


Improving Actigraph Sleep/Wake Classification with Cardio-Respiratory Signals

W. Karlen; C. Mattiussi; D. Floreano 

2008. 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, BC, 20.-25.8.2008. p. 5262-5265. DOI : 10.1109/IEMBS.2008.4650401.

Neuroevolution: from architectures to learning

D. Floreano; P. Dürr; C. Mattiussi 

Evolutionary Intelligence. 2008. Vol. 1, num. 1, p. 47-62. DOI : 10.1007/s12065-007-0002-4.


Arrays of microlenses with variable focal lengths fabricated by restructuring polymer surfaces with an ink-jet device

R. Pericet-Camara; A. Best; S. K. Nett; J. S. Gutmann; E. Bonaccurso 

Optics Express. 2007. Vol. 15, p. 9877-9882. DOI : 10.1364/OE.15.009877.

Evolution of cooperation in artificial ants

M. Waibel / D. Floreano; L. Keller (Dir.)  

Lausanne, EPFL, 2007. 

Adaptive Sleep/Wake Classification Based on Cardiorespiratory Signals for Wearable Devices

W. Karlen; C. Mattiussi; D. Floreano 

2007. Biomedical Circuits and Systems Conference, BioCAS 2007, Montreal, 27.-30.11.2007. p. 203-206. DOI : 10.1109/BIOCAS.2007.4463344.

Evolutionary Conditions for the Emergence of Communication in Robots

D. Floreano; S. Mitri; S. Magnenat; L. Keller 

Current Biology. 2007. Vol. 17, p. 514-519. DOI : 10.1016/j.cub.2007.01.058.


Co-evolution of Language and Behaviour in Autonomous Robots

S. Mitri; P. Vogt 

2006. The sixth international conference on the Evolution of Language (Evolang6), World Scientific, Rome, Italy, April, 2006. p. 428-429. DOI : 10.1142/9789812774262_0068.

Flying over the Reality Gap: From Simulated to Real Indoor Airships

J-C. Zufferey; A. Guanella; A. Beyeler; D. Floreano 

Autonomous Robots. 2006. Vol. 21, num. 3, p. 243-254. DOI : 10.1007/s10514-006-9718-8.

Active Vision for Neural Development and Landmark Navigation

M. Suzuki; D. Floreano 

2006. 50th Anniversary Summit of Artificial Intelligence, Monte Verità, Switzerland, 9-14 July 2006. p. 247-248.

Active Vision and Neural Development in Animals and Robots

D. Floreano; M. Suzuki 

2006. The Seventh International Conference on Cognitive Modeling, Trieste, Italy, 5-8 April 2006. p. 10–11.

Evolutionary Active Vision Toward Three Dimensional Landmark-Navigation

M. Suzuki; D. Floreano 

2006. From Animals to Animats 9: The Ninth International Conference on the Simulation of Adaptive Behavior, Roma, Italy, 25-29 September 2006. p. 263–273. DOI : 10.1007/11840541_22.

Omnidirectional Active Vision for Evolutionary Car Driving

M. Suzuki; J. van der Blij; D. Floreano 

2006. The Ninth International Conference on Intelligent Autonomous Systems, Tokyo, Japan, 7-9 March 2006. p. 153–161.


The Contribution of Active Body Movement to Visual Development in Evolutionary Robots

M. Suzuki; D. Floreano; E. A. Di Paolo 

Neural Networks. 2005. Vol. 18, num. 5/6, p. 656–665. DOI : 10.1016/j.neunet.2005.06.043.

Active Vision and Receptive Field Development in Evolutionary Robots

D. Floreano; M. Suzuki; C. Mattiussi 

Evolutionary Computation. 2005. Vol. 13, num. 4, p. 527–544. DOI : 10.1162/106365605774666912.

Constraints on Body Movement during Visual Development Affect Behavior of Evolutionary Robots

M. Suzuki; D. Floreano; E. A. Di Paolo 

2005. The International Joint Conference on Neural Networks, Montreal, Canada, 31 July-4 August 2005. p. 2778–2783. DOI : 10.1109/IJCNN.2005.1556365.


Co-Evolutionary Particle Swarm Optimization Applied to the 7×7 Seega Game

A. M. Abdelbar; S. Ragab; S. Mitri 

2004. International Joint Conference on Neural Networks (IJCNN), Budapest, Hungary, July, 2004. p. 243-248. DOI : 10.1109/IJCNN.2004.1379907.

Evolution of Analog Networks using Local String Alignment on Highly Reorganizable Genomes

C. Mattiussi; D. Floreano 

2004. NASA/DoD Conference on Evolvable Hardware (EH’2004), Seattle, 24-26 June. p. 30-37.

Connecting Transistors and Proteins

C. Mattiussi; D. Floreano 

2004. 9th International Conference on Artificial Life (Alife9), Boston (MA), p. 9-14.

Coevolution of active vision and feature selection

D. Floreano; T. Kato; D. Marocco; E. Sauser 

Biological Cybernetics. 2004. Vol. 90, num. 3, p. 218–228. DOI : 10.1007/s00422-004-0467-5.


Applying Co-Evolutionary Particle Swam Optimization to the Egyptian Board Game Seega

A. M. Abdelbar; S. Ragab; S. Mitri 

2003. The First Asian-Pacific Workshop on Genetic Programming, Canberra, Australia, December, 2003. p. 9-15.


Evolution of Plastic Control Networks

D. Floreano; J. Urzelai 

Autonomous Robots. 2001. Vol. 11, num. 3, p. 311-317. DOI : 10.1023/A:1012459627968.

An Evolutionary Active-Vision System

T. Kato; D. Floreano 

2001. The 2001 Congress on Evolutionary Computation, Seoul, South Korea, 05/27/2001 – 05/30/2001. p. 107–114.


Artificial Evolution of Adaptive Software: An Application to Autonomous Robots

D. Floreano; J. Urzelai 

3D The Journal of Three dimensional images (in japanese). 2000. Vol. 14, num. 4, p. 64-69.


Evolutionary Neurocontrollers for Autonomous Mobile Robots

D. Floreano; F. Mondada 

Neural Networks. 1998. Vol. 11, num. 7-8, p. 1461-1478. DOI : 10.1016/S0893-6080(98)00082-3.

Incremental Robot Shaping

J. Urzelai; D. Floreano; M. Dorigo; M. Colombetti 

Connection Science. 1998. Vol. 10, p. 341-360. DOI : 10.1080/095400998116486.