Publications associées à An augmented reality-based wearable system for handheld-free and intuitive robot programming

Publications associées (26)

Implementation of Dynamic SISD-SIMD Integer Dividers

Ties Jan Henderikus Kluter, Gianluca Radi

Digital division is a pivotal operation in a number of domains, such as scientific computation, cryptography, digital signal processing, and machine learning, and has been broadly researched in the past decades. However, the increasing demand for efficient ...

Institute of Electrical and Electronics Engineers2025

Principles and Guidelines for Evaluating Social RobotNavigation Algorithms

Alexandre Massoud Alahi

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms t ...

ASSOC COMPUTING MACHINERY2025

GRADE: Generating Realistic and Dynamic Environments for robotics research with Isaac Sim

Chenghao Xu

Photorealistic synthetic data and novel rendering techniques significantly advanced computer vision research. However, datasets focused on computer vision applications cannot be easily applied to robotics because they typically lack physics-related informa ...

SAGE Publications2025

A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures

Sylvain Calinon

Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the reference target positio ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2024

Nonlinear Economic State Equilibria via van der Waals Modeling

Max-Olivier Hongler

The renowned van der Waals (VDW) state equation quantifies the equilibrium relationship between the pressure P, volume V, and temperature (Formula presented.) of a real gas. We assign new variable interpretations adapted to the economic context: (Formula p ...

2024

Action Contextualization: Adaptive Task Planning and Action Tuning Using Large Language Models

Sthithpragya Gupta, Aude Billard, Kunpeng Yao, Loïc Niederhauser

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error correction. This work ai ...

Institute of Electrical and Electronics Engineers2024

Reducing uncertainties in response predictions of earthquake-damaged masonry buildings using data from image-based inspection

Ian Smith, Katrin Beyer, Bryan German Pantoja Rosero, Mathias Christian Haindl Carvallo

Image information about the state of a building after an earthquake, which can be collected without endangering the post-earthquake reconnaissance activities, can be used to reduce uncertainties in response predictions for future seismic events. This paper ...

Springer2024

The neuromechanics of animal locomotion: From biology to robotics and back

Auke Ijspeert, Pavan P Ramdya

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

AMER ASSOC ADVANCEMENT SCIENCE2023

An HMM-based Real-time Intervention Methodology for a Social Robot Supporting Learning

Mortadha Abderrahim, Pierre Dillenbourg, Barbara Bruno

To make social robots effective in education, they need to be autonomous both in terms of assessing the student's engagement state as well as intervening effectively in soft real-time when necessary. Hidden Markov Model (HMM) is an interpretable machine le ...

IEEE2023

Advancing coordination control of multi-limb robotic tasks: application to bimanual dynamic manipulation and bipedal reactive locomotion

Michael Bosongo Bombile

Bi-manual picking up of objects to toss them on a conveyor belt are dynamic manipulation activities generated daily in the industry. Such repetitive and physically demanding tasks are still done largely by humans for lack of similarly fast, precise, and ro ...

EPFL2022

Enhancing our understanding of human fine manipulation skills and advancing robot dexterity in grasping

Kunpeng Yao

From surgery to watchmaking, fine-manipulation skills highly rely on the dexterity afforded by both hands. Coordination is key to human dexterity. Specifically, humans need not only to govern the abundant intrinsic degrees of freedom (DOFs) to allocate con ...

EPFL2022

The effect of gamified robot-enhanced training on motor performance in chronic stroke survivors

Pierre Dillenbourg, Friedhelm Christoph Hummel, Barbara Bruno, Maximilian Jonas Wessel, Arzu Güneysu Özgür, Andéol Geoffroy Cadic-Melchior, Giulia Dominijanni, Valérie Rita Madeleine Zufferey

Task-specific training constitutes a core element for evidence-based rehabilitation strategies targeted at improving upper extremity activity after stroke. Its combination with additional treatment strategies and neurotechnologybased solutions could furthe ...

ELSEVIER SCI LTD2022

Design of Hesitation Gestures for Nonverbal Human-Robot Negotiation of Conflicts

Aude Billard

When the question of who should get access to a communal resource first is uncertain, people often negotiate via nonverbal communication to resolve the conflict. What should a robot be programmed to do when such conflicts arise in Human-Robot Interaction? ...

ASSOC COMPUTING MACHINERY2021

Soft Touch using Soft Pneumatic Actuator-Skin as a Wearable Haptic Feedback Device

Jamie Paik, Harshal Arun Sonar, Jian-Lin Huang

Understanding the external environment depends heavily on vision, audition, and touch. Like vision and audition, the human sense of touch is complex. Tactile perception is composed of multiple fundamental and physical experiences felt as changes in stiffne ...

2021

Guest Editorial: Introduction to the Special Issue on Long-Term Human Motion Prediction

Alexandre Massoud Alahi

The articles in this special section focus on long term human motion prediction. This represents a key ability for advanced autonomous systems, especially if they operate in densely crowded and highly dynamic environments. In those settings understanding a ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

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

Jamie Paik, Mustafa Mete

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

2021

Redefining Energy Density for an uniaxial Dielectric Elastomer Actuator

Yves Perriard, Yoan René Cyrille Civet, Jonathan André Jean-Marie Chavanne

The dielectric elastomer actuator (DEA) is a technology known to potentially provide high energy density (0.3 - 0.4 J.cm(-3)). However, in the literature, few demonstrations have been done to evaluate this figure. To well understand the ability of this tec ...

IEEE2021

Design and development of the efficient anguilliform swimming robot- MAR

Auke Ijspeert, Peter Eckert, Mohammadreza Bayat

Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

2020

Current-Based Data-Retention-Time Characterization of Gain-Cell Embedded DRAMs Across the Design and Variations Space

Andreas Peter Burg, Adam Shmuel Teman, Robert Giterman, Andrea Bonetti

The rise of data-intensive applications has resulted in an increasing demand for high-density and low-power on-chip embedded memories. Gain-cell embedded DRAM (GC-eDRAM) is a logic-compatible alternative to conventional static random access memory (SRAM) w ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Robots for Learning - R4L: Adaptive Learning

Wafa Monia Benkaouar Johal

The Robots for Learning workshop series aims at advancing the research topics related to the use of social robots in educational contexts. This year's half-day workshop follows on previous events in Human-Robot Interaction conferences focusing on efforts t ...

2019