Publications related to Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set

Related publications (50)

A Bio-Inspired Learning and Control Framework for Cross-Embodiment and Cross-Task Locomotion

Animals exhibit remarkable locomotion skills despite significant sensorimotor delays and operating in uncertain environments. Moreover, mammals acquire these skills within minutes of birth. From the Cambrian explosion to the present day, vertebrate motor c ...

EPFL2025

A data-efficient and general-purpose hand–eye calibration method for robotic systems using next best view

Sichao Liu

Calibration between robots and cameras is critical in automated robot vision systems. However, conventional manually conducted image-based calibration techniques are often limited by their accuracy sensitivity and poor adaptability to dynamic or unstructur ...

2025

SaliencyMix plus : Noise-Minimized Image Mixing Method With Saliency Map in Data Augmentation

Zhixiong Jin

Data augmentation is vital in deep learning for enhancing model robustness by artificially expanding training datasets. However, advanced methods like CutMix blend images and assign labels based on pixel ratios, often introducing label noise by neglecting ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2025

Design and Validation of a Tripping-Eliciting Platform Based on Compliant Random Obstacles

Silvestro Micera

Goal: The experimental study of the stumble phenomena is essential to develop novel technological solutions to limit harmful effects in at-risk populations. A versatile platform to deliver realistic and unanticipated tripping perturbations, controllable in ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2025

DiffCheck: A scan-CAD evaluation tool for digital manufacturing and assembly processes in timber construction

Yves Weinand, Julien Gamerro, Stefana Parascho, Andrea Settimi, Marianthi Eririni Kladeftira, Eleni Maria Skevaki, Damien Lambert Alain Félicien Gilliard

In digital timber construction, scanning technologies and point cloud data are widely used due to the accessibility of affordable 3D sensors, photogrammetry, and userfriendly CAD tools. While typically not employed for accuracy checks in timber fabrication ...

CRC Press2025

Generation of LOD4 models for buildings towards the automated 3D modeling of BIMs and digital twins

Katrin Beyer, Frédéric Kaplan, Bryan German Pantoja Rosero, Alexander Michael Rusnak

An image-based methodology is presented for the automatic generation of geometric building models at LOD4, incorporating both interior and exterior geometrical information. Existing approaches often focus on simplified geometries for either exteriors or in ...

Elsevier BV2024

Tandem catalysis enables chlorine-containing waste as chlorination reagents

Paul Joseph Dyson, Xinbang Wu, Mingyang Liu

Chlorinated compounds are ubiquitous. However, accumulation of chlorine-containing waste has a negative impact on human health and the environment due to the inapplicability of common disposal methods, such as landfill and incineration. Here we report a su ...

Nature Portfolio2024

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

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Alcherio Martinoli, Wanting Jin

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

2024

Rearranging Deformable Linear Objects for Implicit Goals with Self-Supervised Planning and Control

Luyin Hu

The robotic manipulation of deformable linear objects is a frontier problem with many potential applications in diverse industries. However, most existing research in this area focuses on shape control for a provided explicit goal and does not consider phy ...

2024

Horner-Wadsworth-Emmons olefination for bioconjugation

Yimon Aye

Through site-specific generation of intermediary reactive aldehydes, Horner-Wadsworth-Emmons olefination can now deliver selective functionalization of stable recombinant proteins and monoclonal antibodies, whilst preserving protein integrity. ...

Springernature2024

Multilingual Contrastive Decoding via Language-Agnostic Layers Skipping

Chris Wendler

Decoding by contrasting layers (DoLa), is designed to improve the generation quality of large language models (LLMs) by contrasting the prediction probabilities between an early exit output (amateur logits) and the final output (expert logits).However, we ...

Association for Computational Linguistics (ACL)2024

Gait-dependent Traversability Estimation on the k-rock2 Robot

Auke Ijspeert, Matthew Alfonso Estrada

Assessing the traversability of rugged terrain is a difficult challenge for legged robots, especially when they implement multiple, distinct gaits. We tackle this problem on the k-rock2 amphibious, sprawling gait robot by training a gait-dependent traversa ...

IEEE2022

Advancing coordination control of multi-limb robotic tasks: application to bimanual dynamic manipulation and bipedal reactive locomotion

Michael Bosongo Bombile

Bi-manual picking up of objects to toss them on a conveyor belt are dynamic manipulation activities generated daily in the industry. Such repetitive and physically demanding tasks are still done largely by humans for lack of similarly fast, precise, and ro ...

EPFL2022

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

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Dario Floreano, Nicola Nosengo

Stories from the future of intelligent machines—from rescue drones to robot spouses—and accounts of cutting-edge research that could make it all possible. Tech prognosticators promised us robots—autonomous humanoids that could carry out any number of tasks ...

MIT Press2022

Enabling Faster Locomotion of Planetary Rovers With a Mechanically-Hybrid Suspension

David Rodriguez Martinez

The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range of disturbances ...

2024

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

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation

Josephine Anna Eleanor Hughes, Kai Christian Junge, Nana Obayashi, Francesco Stella

Biology provides many examples of where body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid which uses feather arms to locomote and feed, is one such system; it releases its arms to distract prey and vary ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

A heterogeneously integrated lithium niobate-on-silicon nitride photonic platform

Tobias Kippenberg, Junqiu Liu, Rui Ning Wang, Johann Emmeram Riemensberger, Anat Siddharth, Mikhail Churaev, Miles Henry Anderson, Viacheslav Snigirev, Terence Albert Emile Blésin

The availability of thin-film lithiumniobate on insulator (LNOI) and advances in processing have led to the emergence of fully integrated LiNbO3 electro-optic devices. Yet to date, LiNbO3 photonic integrated circuits have mostly been fabricated using non-s ...

Nature Portfolio2023