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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 ...

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 ...

Objective. Syntax involves complex neurobiological mechanisms, which are difficult to disentangle for multiple reasons. Using a protocol able to separate syntactic information from sound information we investigated the neural causal connections evoked by t ...

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 ...

This paper describes the first steps of an ongoing participatory design with teachers from Switzerland to co-create Human-Robot Interaction setups for integrating children with migration history. The herein presented phase had two main goals: (i) initially ...

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 ...

Ethics in engineering has long been an important element in engineering programmes, however these subjects are often taught at a basic learning level with little attempt to connect to demonstrative learning outcomes. In recent years there has been a step c ...

In Receding Horizon Planning (RHP), it is critical that the motion being executed facilitates the completion of the task, e.g. building momentum to overcome large obstacles. This requires a value function to inform the desirability of robot states. However ...

When humans interact with each other, eye gaze movements have to support motor control as well as communication. On the one hand, we need to fixate the task goal to retrieve visual information required for safe and precise action-execution. On the other ha ...

In this letter, we propose a real-time self-collision avoidance approach for whole-body humanoid robot control. To achieve this, we learn the feasible regions of control in the humanoid's joint space as smooth self-collision boundary functions. Collision-f ...

Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although the robot configuration is defined by its joint angles, end-effector poses are oft ...

We envision a humanoid robot to serve as a source of additional motion-support forces in assistance for frail persons. In this context, we present a control strategy for a humanoid to adaptively regulate its assistive force contribution. First, we identify ...

The Washington Accord emphasises the role of ethical and societal considerations in the practice of engineering. Increasingly, national accrediting bodies are also expecting to see evidence in the delivery and assessment of ethics throughout engineering pr ...

Trajectory planning through dynamical systems (DS) provides robust control for robots and has found numerous applications from locomotion to manipulation. However, to date, DS for controlling rhythmic patterns are distinct from DS used to control point to ...

In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consisten ...

Syntax is a species-specific component of human language combining a finite set of words in a potentially infinite number of sentences. Since words are by definition expressed by sound, factoring out syntactic information is normally impossible. Here, we c ...

We report on a follow-up study of the Co-Writer project at EPFL [1]; we confirm their findings, extend the applicability to another language with a different alphabet (Greek) and go into an in-depth qualitative study of the child-robot relationship. The co ...

Humanoid robots, with a focus on personalised social behaviours, are increasingly being deployed in educational settings to support learning. However, crafting pedagogical HRI designs and robot interventions that have a real, positive impact on participant ...

In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

Verb concepts from affordances

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Online Multicontact Receding Horizon Planning via Value Function Approximation

Implicit Distance Functions: Learning and Applications in Robotics

Self-Correcting Quadratic Programming-Based Robot Control

Event-related causality in stereo-EEG discriminates syntactic processing of noun phrases and verb phrases

Accessible Soft Robotics Education with Re-configurable Balloon Robots

Teacher's Perception on Social Robots to Promote the Integration of Children with Migration Background

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

What is the role of ethics in accreditation documentation from a global view?

Learning to Guide Online Multi-Contact Receding Horizon Planning

The Gaze Dialogue Model: Nonverbal Communication in HHI and HRI

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

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

What is the role of ethics in accreditation guidelines for engineering programmes in Europe?

Learning dynamical systems with bifurcations

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

High gamma response tracks different syntactic structures in homophonous phrases

Learning (Good Handwriting In Greek) By Teaching (A Humanoid Robot)

When Positive Perception of the Robot Has No Effect on Learning

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots