Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

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 ...

Human movements emerge from complex interactions between the musculoskeletal system, the neural system and the external environment. Their control is realised through a hierarchical neural system composed of the brain, the spinal cord (SC), and remaining n ...

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 ...

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 ...

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

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 ...

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...

Objective: We predicted that accelerometry would be a viable alternative to electromyography (EMG) for assessing fundamental Transcranial Magnetic Stimulation (TMS) measurements (e.g. Resting Motor Threshold (RMT), recruitment curves, latencies). New Metho ...

IntroductionThe current assessment and standardization of microsurgical skills are subjective, posing challenges in reliable skill evaluation. We aim to address these limitations by developing a quantitative and objective framework for accurately assessing ...

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 ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Chat with Graph Search

Online Multicontact Receding Horizon Planning via Value Function Approximation

Investigation of the role of spinal circuits in human motor control, from healthy to rehabilitation conditions

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

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Augmenting locomotor perception by remapping tactile foot sensation to the back

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Educational Soft Underwater Robot with an Electromagnetic Actuation

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Hitting with Different Joints of a Robotic Manipulator

Geometric Learning: Leveraging differential geometry for learning and control

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Accelerometry as a tool for measuring the effects of transcranial magnetic stimulation

An objective skill assessment framework for microsurgical anastomosis based on ALI scores

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

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Stability: a search for structure

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation