Robotics

We present a new type of hydrostatic transmission that uses a hybrid air-water configuration, analogous to N+1 cable-tendon transmissions, using N hydraulic lines and 1 pneumatic line for a system with N degrees of freedom (DOFs).

VertiGo is a wall-climbing robot that is capable of transitioning from the ground to the wall, created in collaboration between Disney Research Zurich and ETH.

The purpose of this research is the development of a soft skin module with a built-in airtight cavity in which air pressure can be sensed.

In this paper, we examine a novel biologically-inspired control method, emulating antagonistic muscle pairs based on a nonlinear Hill model.

In this paper, we develop a thermomechanical and thermoelectric model of SCP actuators, and examine their controllability.