Motion Pattern Preserving IK Operating in the Motion Principal Coefficients Space

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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 ...

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

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In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

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The largest source of systematic errors in the time-delay cosmography method likely arises from the lens model mass distribution, where an inaccurate choice of model could in principle bias the value of H-0. A Bayesian hierarchical framework has been propo ...

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Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

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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 ...

Motion Pattern Preserving IK Operating in the Motion Principal Coefficients Space

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

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Exploration-based model learning with self-attention for risk-sensitive robot control

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Implicit Distance Functions: Learning and Applications in Robotics

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Online active and dynamic object shape exploration with a multi-fingered robotic hand

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Does anodal cerebellar tDCS boost transfer of after-effects from throwing to pointing during prism adaptation?

Memory of Motion for Initializing Optimization in Robotics

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SmartSwim: A novel approach to swimming analysis and coaching assistance based on wearable inertial sensors

TOCOSMO VIII. A key test of systematics in the hierarchical method of time-delay cosmography

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Impaired reach-to-grasp kinematics in parkinsonian patients relates to dopamine-dependent, subthalamic beta bursts

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