Robotic clay modeling
Robots can perform many tasks today, but can they model clay? In contrast to previous robotic manipulation technique, which mostly deal with hard materials, in this project we will explore robotic manipulation of materials that \emph{flow}: clay, plaster, stucco, etc. Our ultimate goal is to control a robot that can perform sculpting tasks or pottery like the ones in the picture above.
Real hands in VR
Virtual reality is an immersive technology that uses a Head Mounted Display (HMD), to place a player in a virtual world. While the visual feedback part of VR has received a lot of attention in recent years, and is quite convincing, other parts are still lacking. In particular, not being able to see
Predictive control of compliant structures
Flexible structures such as cable nets, deformable grid shells or membrane structures have been drawing great interest in an architectural context for many years. Both in their own right, and as formwork for concrete casting, they promise to be lightweight, economic and easily deployable alternative
Augmented Virtuality
While immersed in a virtual reality, we are usually oblivious to the real world. Augmented virtuality is a concept where the virtual world is enriched with real physical objects, or virtual representations of them. The goal of this project is to design an augmented virtuality system using a combinat
Locomotion controllers for bio-inspired robots
The goal of this project is to develop whole-body locomotion controllers for new breeds of bio-inspired robots.
Predictive control of compliant structures
Flexible structures such as cable nets, deformable grid shells or membrane structures have been drawing great interest in an architectural context for many years. To control the shape of such structures when deployed remains a challenge, which is to be tackled in this thesis.
Castle Maker: Simultaneous and collaborative robotic assembly
Assembly is one of the fundamental tasks that robots were designed to do. The standard approach that has been used since the dawn of robotics is to break the assembly procedure into smaller tasks that can be run sequentially. This approach benefits from easy programming and computation. However, the

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