Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

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.

Navigating and exploring the surfaces of bodies of water allow swimming robots to perform a range of measurements while efficiently communicating and harvesting energy from the Sun. Such environments are often highly unstructured and cluttered with plant m ...

Cable-Driven Parallel Robots (CDPRs) offer significant potential in applications requiring large workspaces. However, determining the locations of the cable attachment points (or called the cable exit points) remains a critical design challenge. This work ...

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 ...

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 ...

Learning manipulation from demonstration is a key way for humans to teach complex tasks. However, this domain mainly focuses on kinetic teaching, and does not consider imitation of interaction forces which is essential for more contact rich tasks. We propo ...

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 ...

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 ...

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 ...

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 ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

The deployment of robots for Gas Source Lo- calization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersi ...

During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

Soft robotics requires effective tools to educate the next generation of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fabrication and hardware, education to dat ...

Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks ...

A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

Chat with Graph Search

Highly agile flat swimming robot

Determining Feasible Cable Attachment Locations for Cable-Driven-Parallel Robot

Online Multicontact Receding Horizon Planning via Value Function Approximation

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

Learning Motion Reconstruction from Demonstration via Multi-Modal Soft Tactile Sensing

Educational Soft Underwater Robot with an Electromagnetic Actuation

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Robot Learning using Tensor Networks

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

Implicit Distance Functions: Learning and Applications in Robotics

Self-Correcting Quadratic Programming-Based Robot Control

Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

Accessible Soft Robotics Education with Re-configurable Balloon Robots

Sensorless force and displacement estimation in soft actuators

Learning and optimization of anticipatory feedback controllers for robot manipulation

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

Haptics based collaborative steering control in automated driving environments