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Concept

Robot kinematics

Related publications (26)

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Jamie Paik, Mustafa Mete

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

2021

Optimization of robot configurations for motion planning in industrial riveting

Sylvain Calinon, Teguh Santoso Lembono, Hakan Girgin

Collaborative robots (cobots) have been increasingly used in the industry in recent years. The cobots are often 7-axis kinematically redundant manipulators. Exploiting these redundancies in industrial tasks is still a challenge as the change in the robot j ...

IEEE2021

Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network

Sylvain Calinon, Emmanuel Pignat, Teguh Santoso Lembono, Julius Maximilian Jankowski

In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network approach to learn th ...

IEEE2021

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Sylvain Calinon, Emmanuel Pignat

Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although the robot configuration is defined by its joint angles, end-effector poses are oft ...

2021

Product of experts for robot learning from demonstration

Emmanuel Pignat

Adaptability and ease of programming are key features necessary for a wider spread of robotics in factories and everyday assistance. Learning from demonstration (LfD) is an approach to address this problem. It aims to develop algorithms and interfaces such ...

EPFL2021

Impaired reach-to-grasp kinematics in parkinsonian patients relates to dopamine-dependent, subthalamic beta bursts

Silvestro Micera

Excessive beta-band oscillations in the subthalamic nucleus are key neural features of Parkinson's disease. Yet the distinctive contributions of beta low and high bands, their dependency on striatal dopamine, and their correlates with movement kinematics a ...

NATURE RESEARCH2021