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.
Variable-Stiffness Tensegrity Modular RobotsLausanne, EPFL, 2021.
Bio-Inspired Tensegrity Fish Robot2020-05-29. 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.
Inquiry-Based Learning with RoboGen: An Open-Source Software and Hardware Platform for Robotics and Artificial IntelligenceIEEE Transactions on Learning Technologies. 2019. Vol. 12, num. 3, p. 356-369. DOI : 10.1109/TLT.2018.2833111.
Soft Biomimetic Fish Robot Made of Dielectric Elastomer ActuatorsSoft Robotics. 2018-06-29. Vol. 5, num. 4, p. 466-474. DOI : 10.1089/soro.2017.0062.
Bioinspired dual-stiffness origamiScience Robotics. 2018. Vol. 3, num. 20. DOI : 10.1126/scirobotics.aau0275.
Foldable Drones: from Biology to Technology2017. 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 assembliesScientific Reports. 2017. Vol. 7, num. 235. DOI : 10.1038/s41598-017-00266-w.
Adaptive Morphology: A Design Principle for Multimodal and Multifunctional RobotsIEEE Robotics & Automation Magazine. 2016. Vol. 23, num. 3, p. 42-54. DOI : 10.1109/MRA.2016.2580593.
Memetic Viability Evolution for Constrained OptimizationIEEE Transactions on Evolutionary Computation. 2016. Vol. 20, num. 1, p. 125-144. DOI : 10.1109/TEVC.2015.2428292.
A small-scale hyperacute compound eye featuring active eye tremor: application to visual stabilization, target tracking, and short-range odometryBioinspiration & Biomimetics. 2015. Vol. 10, num. 2. DOI : 10.1088/1748-3190/10/2/026002.
Hardware Architecture and Cutting-Edge Assembly Process of a Tiny Curved Compound EyeSensors. 2014. Vol. 14, num. 11, p. 21702-21721. DOI : 10.3390/s141121702.
Stretchable Electroadhesion for Soft Robots2014. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, USA, September 14-18, 2014.
Selection methods regulate evolution of cooperation in digital evolutionJournal of the Royal Society Interface. 2014. Vol. 11, num. 20130743. DOI : 10.1098/rsif.2013.0743.
Soft Cell Simulator: A tool to study Soft Multi-Cellular Robots2013. IEEE International Conference on Robotics and Biomimetics, Shenzhen, China, December 12-14, 2013. p. 1300-1305.
HYPER-FLEXIBLE 1-D SHAPE SENSOR2013. The 17th International Conference on Solid-State Sensors, Actuators and Microsystems, Barcelona, Spain, June 16-20, 2013.
A Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive2013. ICRA 13, Karlsruhe, May 6-7, 2013.
Historical contingency affects signaling strategies and competitive abilities in evolving populations of simulated robotsPNAS. 2012. Vol. 109, num. 3, p. 864-868. DOI : 10.1073/pnas.1104267109.
Method for fabricating an artificial compound eye
AT538406; EP2306230; WO2011039062; EP2306230.2011.