Swarm Robotics is an emerging field of adapting the phenomenon of natural swarms to
robotics and a study of robots to mimic natural swarms, like ants and birds, to form a …

Physics simulation offers the possibility of truly responsive and realistic animation. Despite
wide adoption of physics simulation for the animation of passive phenomena, such as fluids …

From exploring planets to cleaning homes, the reach and versatility of robotics is vast. The
integration of actuation, sensing and control makes robotics systems powerful, but …

We introduce Pinocchio, an open-source software framework that implements rigid body
dynamics algorithms and their analytical derivatives. Pinocchio does not only include …

The theory to analyze the relationship between the position and attitude of a link and the
joint angles of a mechanism is called Kinematics. It is the basis on which robotics is formed …

Obtaining an accurate mechanical model of a soft deformable robot compatible with the
computation time imposed by robotic applications is often considered an unattainable goal …

In our research we use rigid-body dynamics and optimal control methods to generate 3-D
whole-body walking motions. For the dynamics modeling and computation we created …

The purpose of this paper is to present inverse optimal control as a promising approach to
transfer biological motions to robots. Inverse optimal control helps (a) to understand and …

One of the challenges in develo** real-world autonomous robots is the need for
integrating and rigorously testing high-level scripting, motion planning, perception, and …

With the widespread adoption of multicore architectures, multiprocessors are now a
standard deployment platform for (soft) real-time applications. This dissertation addresses …