Publications de Andrej Gams | EPFL Graph Search

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The paper presents a two-layered system for (1) learning and encoding a periodic signal without any knowledge on its frequency and waveform, and (2) modulating the learned periodic trajectory in response to external events. The system is used to learn peri ...

In this paper we present a novel method to obtain the basic frequency of an unknown periodic signal with an arbitrary waveform, which can work online with no additional signal processing or logical operations. The method originates from non-linear dynamica ...

Autonomous trajectory generation through generalization requires a database of motion, which can be difficult and time consuming to obtain. In this paper, we propose a method for autonomous expansion of a database for the generation of compliant and accura ...

In this paper we propose and evaluate a control system to (1) learn and (2) adapt robot motion for continuous non-rigid contact with the environment. We present the approach in the context of wiping surfaces with robots. Our approach is based on learning b ...

The framework of dynamic movement primitives (DMPs) contains many favorable properties for the execution of robotic trajectories, such as indirect dependence on time, response to perturbations, and the ability to easily modulate the given trajectories, but ...

The paper presents a two-layered system for learning and encoding a periodic signal and its application to a drumming task. The two layers are the dynamical system responsible for extracting the main frequency of the input signal, based on adaptive frequen ...

In this article we describe the use of a standard game console joystick, namely the Nintendo Wiimote, for controlling a HOAP-2 humanoid robot. We give a short overview on the use of tangible user interfaces, followed by the description of the used game con ...

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...

Just as their discrete counterparts, periodic or rhythmic dynamic motion primitives allow easily modulated and robust motion generation, but for periodic tasks. In this paper we present an approach for modulating periodic dynamic movement primitives based ...

The framework of dynamic movement primitives allows the generation of discrete and periodic trajectories, which can be modulated in various aspects. We propose and evaluate a novel modulation approach that includes force feedback and thus allows physical i ...

Andrej Gams

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On-line learning and modulation of periodic movements with nonlinear dynamical systems

On-line frequency adaptation and movement imitation for rhythmic robotic tasks

Accelerated Sensorimotor Learning of Compliant Movement Primitives

Adaptation and coaching of periodic motion primitives through physical and visual interaction

Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks

Dynamical system for learning the waveform and frequency of periodic signals - application to drumming

Gaming controllers for research robots: controlling a humanoid robot using a WIIMOTE

Real-time full body motion imitation on the COMAN humanoid robot

Rich periodic motor skills on humanoid robots: Riding the pedal racer

Modulation of motor primitives using force feedback: Interaction with the environment and bimanual tasks

A Dynamical System for Online Learning of Periodic Movements of Unknown Waveform and Frequency

Stable real-time full body motion imitation on the COMAN humanoid robot