Publications related to Bio-inspired balance controller for a humanoid robot

Related publications (62)

GRADE: Generating Realistic and Dynamic Environments for robotics research with Isaac Sim

Photorealistic synthetic data and novel rendering techniques significantly advanced computer vision research. However, datasets focused on computer vision applications cannot be easily applied to robotics because they typically lack physics-related informa ...

SAGE Publications2025

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

A Stochastic Approach to Contact-rich Manipulation

Julius Maximilian Jankowski

For robots to operate in unstructured environments, they are required to interact with objects through contact. Those contacts may be used to push objects to the side, deform objects, or manipulate objects in-hand. This thesis addresses the problem of cont ...

EPFL2025

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Lukas Huber

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

A Study on Quantum Graph Neural Networks Applied to Molecular Physics

Su Yeon Chang

This paper introduces a novel architecture for Quantum Graph Neural Networks, which is significantly different from previous approaches found in the literature. The proposed approach produces similar outcomes with respect to previous models but with fewer ...

IOP Publishing Ltd2025

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

Principles and Guidelines for Evaluating Social RobotNavigation Algorithms

Alexandre Massoud Alahi

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms t ...

ASSOC COMPUTING MACHINERY2025

Investigating neural resource allocation in the sensorimotor control of extra limbs

Giulia Dominijanni

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

EPFL2024

Integer Linear Programming for Unsupervised Training Set Selection in Molecular Machine Learning

Anne-Clémence Corminboeuf, Friedrich Eisenbrand, Rubén Laplaza Solanas, Puck Elisabeth van Gerwen, Ksenia Briling, Jan Weinreich, Matthieu Nicolas Haeberle

Integer linear programming (ILP) is an elegant approach to solve linear optimization problems, naturally described using integer decision variables. Within the context of physics-inspired machine learning (ML) applied to chemistry, we demonstrate the relev ...

IOP Publishing Ltd2025

Hitting with Different Joints of a Robotic Manipulator

Aude Billard, Harshit Khurana

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

2024

Application of Deep Learning and Geospatial Analysis in Soil Loss Risk in the Moulouya Watershed, Morocco

Jérôme Chenal, Baraka Jean-Claude Munyaka

This study integrates deep learning and geospatial analysis to enhance soil loss estimation in the Moulouya Watershed, a region prone to erosion due to diverse topography and climatic conditions. Traditional models like the Universal Soil Loss Equation (US ...

AIP Publishing2025

Machine learning-enabled estimation of cardiac output from peripheral waveforms is independent of blood pressure measurement location in an in silico population

Ramin Mohammadi, Nikolaos Stergiopoulos, Georgios Rovas, Lydia Aslanidou, Sokratis Anagnostopoulos

Monitoring of cardiac output (CO) is a mainstay of hemodynamic management in the acutely or critically ill patient. Invasive determination of CO using thermodilution, albeit regarded as the gold standard, is cumbersome and bears risks inherent to catheteri ...

2025

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Chiara Ercolani

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

EPFL2024

Enhancing skin lesion classification: a CNN approach with human baseline comparison

Zaffar Ahmed Shaikh

This study presents an augmented hybrid approach for improving the diagnosis of malignant skin lesions by combining convolutional neural network (CNN) predictions with selective human interventions based on prediction confidence. The algorithm retains high ...

PeerJ2025

Small-scale robotic devices for medical interventions in the brain

Mahmut Selman Sakar, Lorenzo Francesco John Noseda

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

2024

MetaCap: Meta-learning Priors from Multi-view Imagery for Sparse-View Human Performance Capture and Rendering

Pascal Fua

Faithful human performance capture and free-view rendering from sparse RGB observations is a long-standing problem in Vision and Graphics. The main challenges are the lack of observations and the inherent ambiguities of the setting, e.g. occlusions and dep ...

Springer Science and Business Media Deutschland GmbH2025

Robot Learning using Tensor Networks

Suhan Narayana Shetty

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

EPFL2024

TimEHR: Image-based Time Series Generation for Electronic Health Records

David Atienza Alonso, Anisoara Ionescu, Hojjat Karami

Time series in Electronic Health Records (EHRs) present unique challenges for generative models, such as irregular sampling, missing values, and high dimensionality. In this paper, we propose a novel generative adversarial network (GAN) model, TimEHR, to g ...

Institute of Electrical and Electronics Engineers (IEEE)2025

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Francesco Mondada, Vaios Papaspyros

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...

2024

An augmented reality-based wearable system for handheld-free and intuitive robot programming

Junsoo Kim

Industrial robots have been programmed to optimize mass production by executing predefined trajectories with their high speed, precision, and repeatability over long production cycles. However, the rise of Industry 4.0 and the increasing demand for diverse ...

2025