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Related publications (24)

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Salman Faraji, Soha Pouya

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

On-line anomaly detection and resilience in classifier ensembles

José del Rocio Millán Ruiz, Ricardo Andres Chavarriaga Lozano, Hesam Sagha, Hamidreza Bayati

Detection of anomalies is a broad field of study, which is applied in different areas such as data monitoring, navigation, and pattern recognition. In this paper we propose two measures to detect anomalous behaviors in an ensemble of classifiers by monitor ...

Elsevier2013

The Opportunity challenge: A benchmark database for on-body sensor-based activity recognition

José del Rocio Millán Ruiz, Ricardo Andres Chavarriaga Lozano, Daniel Roggen, Hesam Sagha

There is a growing interest on using ambient and wearable sensors for human activity recognition, fostered by several application domains and wider availability of sensing technologies. This has triggered increasing attention on the development of robust m ...

Elsevier2013

Robust Data-Driven Dynamic Programming

Daniel Kuhn, Grani Adiwena Hanasusanto

In stochastic optimal control the distribution of the exogenous noise is typically unknown and must be inferred from limited data before dynamic programming (DP)-based solution schemes can be applied. If the conditional expectations in the DP recursions ar ...

2013