Mediaspace scheduled maintenance: Aug 25, 2026 07:00 - 12:00 AM. During this time, videos will be temporarily unavailable. Check status updates.

Home

Concept

Humanoid

Applied sciences
Mechanical engineering
Robotics
Topics in robotics

About
Privacy
Disclaimer

Graph Chatbot

Related publications (27)

Page 2 of 2

Modeling robot geometries like molecules, application to fast multi-contact posture planning for humanoids

Auke Ijspeert, Salman Faraji

Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not th ...

Ieee-Inst Electrical Electronics Engineers Inc2018

Towards Robust Bipedal Locomotion : From Simple Models To Full-Body Compliance

Salman Faraji

Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...

EPFL2018

A singularity-tolerant inverse kinematics including joint position and velocity limitations

Auke Ijspeert, Salman Faraji

Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...

2017

A Robust Capacitive Digital Read-Out Circuit for a Scalable Tactile Skin

Sandro Carrara, Danilo Demarchi

This paper presents a robust, capacitive digital read-out circuit (ROC) for sensitive skin applications in humanoid robots. The ROC can be calibrated to null the parasitic effects of transducer variation due to physical assembly. A prototype is fabricated ...

Institute of Electrical and Electronics Engineers2017

Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

Auke Ijspeert, Salman Faraji

We propose a nonlinear inverse kinematics formulation which solves for positions directly. Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric and singular-postured balancing tasks for hu ...

Ieee-Inst Electrical Electronics Engineers Inc2017

Unravelling socio-motor biomarkers in schizophrenia

Aude Billard, Mahdi Khoramshahi, Laura Bénédicte Marine Cohen

We present novel, low-cost and non-invasive potential diagnostic biomarkers of schizophrenia. They are based on the 'mirrorgame', a coordination task in which two partners are asked to mimic each other's hand movements. In particular, we use the patient's ...

2017

Incremental Learning of Gestures by Imitation in a Humanoid Robot

Aude Billard, Sylvain Calinon

We present an approach to teach incrementally human gestures to a humanoid robot. The learning process consists of first projecting the movement data in a latent space and encoding the resulting signals in a Gaussian Mixture Model (GMM). We compare the per ...

2007