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Learning to Control Soft Robots
Published:
Introduction
Classically controlled robots have revolutionised assembly lines where the environment is restrictedand predictable. However, this control scheme has proven less effective in uncertain, unstructured environments due to the unmodelled nonlinearities in the morphology and its interaction with the environment [Atkeson et al., 2015]. Embodied intelligence suggests that we are not controlled centrally but rather that the morphology and environment also contribute to behaviour. Therefore, the passive dynamics of the robot could be exploited to simplify the controller by making the passive dynamics closer to the desired behaviour [Pfeifer and Bongard, 2006]. Consequently, there has been a growing interest in soft robots which have many passive degrees of freedom and are often underactuated. However, classical control necessitates exact kinematic and dynamic models which are hard to derive analytically for soft robots due to the nonlinear dynamics of the body, external forces, and uncertain, unstructured environment. Model-free approaches are a potential solution to these problems as they can approximate inverse kinematic and dynamic models that account for the unknown nonlinearities.
Why did bipedal locomotion emerge amongst terrestrial vertebrates?
Published:
Introduction
Bipedality has evolved independently in different lineages among terrestrial vertebrates (Snyder R. C., 1962). In extant mammals, it has evolved independently in primates, kangaroos, and rodents (Wu, et al., 2014) and it has also evolved once in dinosaurs (Sereno P. F., 1993). This essay will therefore be split into three parts. The first will deal with human obligate bipedalism with reference to facultative bipedality in other primates. The second will deal with obligate bipedality in dinosaurs, the origin of which is assumed to be the same for Aves, and will highlight an interesting theory that uses lizard facultative bipedalism as an analogy for early bipedal evolution. Finally, obligate saltatory gait in marsupials and rodents, which had different origins but may have evolved for the same purpose, will be discussed.
portfolio
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Portfolio item number 2
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publications
Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision.
Published in 2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA), 2018
Recommended citation: Liu, Y., Hu, T., Ni, H., Zhang, C., Lin, B. and Judd, E., 2018, August. Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision. In 2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) (pp. 1-6). IEEE. https://research-information.bris.ac.uk/files/169927994/design_pc_based.pdf
Sensing Through the Body-Non-Contact Object Localisation Using Morphological Computation.
Published in IEEE International Conference on Soft Robotics (RoboSoft), 2019
The body of a soft tentacle can be used to “feel” the location of an object by observing its own body dynamics and using its soft body dynamics as a computational resource.
Recommended citation: Judd, E., Soter, G., Rossiter, J. and Hauser, H., 2019, April. Sensing Through the Body-Non-Contact Object Localisation Using Morphological Computation. In 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) (pp. 558-563). IEEE. https://research-information.bris.ac.uk/files/221911128/RoboSoft_2019_Published.pdf
NeatSkin: A Discrete Impedance Tomography Skin Sensor
Published in IEEE International Conference on Soft Robotics (RoboSoft), 2020
NeatSkin is an artificial skin sensor used to infer the location of touch employing discrete impedance tomography and machine learning.
Recommended citation: Judd E, Digumarti KM, Rossiter J, Hauser H., 2020, April. NeatSkin: A Discrete Impedance Tomography Skin Sensor. In 2020 IEEE International Conference on Soft Robotics (RoboSoft). IEEE. https://research-information.bris.ac.uk/files/221911032/Robosoft_2020_v3.pdf
talks
Conference Proceeding talk at the International Conference on Intelligent Robots and Systems (IROS) 2018
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Conference proceedings talk on preliminary results for Sensing Through the Body at the IROS 2018 Workshop on Shape Changing Robotic Structures and Interfaces in Madrid, Spain.
Conference Proceeding talk at the IEEE International Conference on Soft Robotics (Robosoft) 2019
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Conference proceedings talk on Sensing Through the Body at the RoboSoft 2019 conference held in Seoul, Korea.
Conference Proceeding talk at the IEEE International Conference on Soft Robotics (Robosoft) 2020
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Conference proceedings talk on NeatSkin: A Discrete Impedance Tomography Skin Sensor at the RoboSoft 2020 conference held in New Haven, Connecticut, USA, but changed to an online conference.
Summer School talk at the Eastern European Machine Learning Summer School (EEML) 2020
Published:
Machine learning summer school talk on NeatSkin at EEML 2020.
teaching
EMAT10007: Introduction to Computer Programming
Undergraduate course, University of Bristol, Department of Engineering Mathematics, 2019
Teaching assistant for the introductory undergraduate course on the Python programming language.
MICRO-515: Evolutionary Robotics
Master's course, EPFL (École polytechnique fédérale de Lausanne), 2022
Head teaching assistant for the Evolutionary Robotics course using RoboGen.