Concept

Inverse kinematics

Related publications (29)

Does anodal cerebellar tDCS boost transfer of after-effects from throwing to pointing during prism adaptation?

Prism Adaptation (PA) is a useful method to study the mechanisms of sensorimotor adaptation. After-effects following adaptation to the prismatic deviation constitute the probe that adaptive mechanisms occurred, and current evidence suggests an involvement ...

Frontiers Media2022

Memory of Motion for Initializing Optimization in Robotics

Teguh Santoso Lembono

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

EPFL2022

All you need is time to generalise the Goman-Khrabrov dynamic stall model

Karen Ann J Mulleners, Fatma Ayancik Cinoglu

Dynamic stall on airfoils negatively impacts their aerodynamic performance and can lead to structural damage. Accurate prediction and modelling of the dynamic stall loads are crucial for a more robust design of wings and blades that operate under unsteady ...

Cambridge University Press2022

SmartSwim: A novel approach to swimming analysis and coaching assistance based on wearable inertial sensors

Mahdi Hamidi Rad

As one of the three most popular sports in the Summer Olympics, competitive swimming has always been an attractive subject of study for sports scientists. The intricate nature of the swimmer's movements and the variety of techniques have led coaches to req ...

EPFL2022

Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

Farshad Khadivar

As technology continues to evolve, robots are becoming an intrinsic part of our lives. While robots surpass human capabilities in precision and speed, they are far from matching humans' ability to adapt to unexpected changes. Humans can quickly and complia ...

EPFL2022

Deep Q-learning agent for building earthquake resisting wall

Katrin Beyer, Qianqing Wang, Ketson Roberto Maximiano Dos Santos

The construction of dry-joint brick masonry that is subject to seismic loading can be modelled as a strategy problem wherein bricks must be laid to form a load resisting structure. To learn how to mount bricks while considering relevant engineering criteri ...

2022

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