Publications associées à Hand Impedance Measurements During Interactive Manual Welding With a Robot

Publications associées (40)

Principles and Guidelines for Evaluating Social RobotNavigation Algorithms

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

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

Junsoo Kim

Industrial robots have been programmed to optimize mass production by executing predefined trajectories with their high speed, precision, and repeatability over long production cycles. However, the rise of Industry 4.0 and the increasing demand for diverse ...

2025

Design of robotic physical intelligence

Francesco Stella

Bridging the performance gap between robotics and biological systems demands significant advancements across multiple domains, including mechanical design, control theory, modeling, and artificial intelligence. In this thesis, I will introduce innovative m ...

EPFL2025

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

Impact of beam-coupling impedance on the Schottky spectrum of bunched beam

Tatiana Pieloni, Nicolas Frank Mounet, Christophe Emmanuel R. Lannoy

The Schottky monitors of the Large Hadron Collider (LHC) can be used for non-invasive beam diagnostics to estimate various bunch characteristics, such as tune, chromaticity, bunch profile or synchrotron frequency distribution. However, collective effects, ...

Iop Publishing Ltd2024

On the use of Cramér-Rao Lower Bound for least-variance circuit parameters identification of Li-ion cells

Mario Paolone, Vladimir Sovljanski

Electrochemical Impedance Spectroscopy (EIS) and Equivalent Circuit Models (ECMs) are widely used to characterize the impedance and estimate parameters of electrochemical systems such as batteries. We use a generic ECM with ten parameters grouped to model ...

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

High-frequency response of a hemispherical grounding electrode

Farhad Rachidi-Haeri, Marcos Rubinstein, Antonio Sunjerga

The lightning discharge current is characterized by a high-frequency spectrum extending from DC to about 10 MHz. The calculation of the grounding impedance is one of the most important aspects of designing lightning protection systems. The search for analy ...

Elsevier2024

Enabling Wide Bandwidth in Substrate-Integrated Waveguide Slot Antennas by Using Low-Index Metamaterials

Romain Christophe Rémy Fleury, Amir Jafargholi

This paper presents a solution to overcome the inherently limited bandwidth of substrate-integrated waveguide (SIW) slot antennas. It is analytically shown that by decreasing the permittivity of a dielectric loaded slot antenna, the resulting bandwidth inc ...

American Physical Society (APS)2024

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

Portable impedance-sensing device for microorganism characterization in the field

Sandro Carrara

A variety of biosensors have been proposed to quickly detect and measure the properties of individual microorganisms among heterogeneous populations, but challenges related to cost, portability, stability, sensitivity, and power consumption limit their app ...

Nature Portfolio2023

NbN films with high kinetic inductance for high-quality compact superconducting resonators

Edoardo Charbon, Pasquale Scarlino, Fabrizio Minganti, Simone Frasca, Marco Scigliuzzo, Fabian Oppliger, Vincent Jean Yves Jouanny

Niobium nitride (NbN) is a particularly promising material for quantum technology applications, as it shows the degree of reproducibility necessary for large-scale superconducting circuits. We demonstrate that resonators based on NbN thin films present a o ...

American Physical Society (APS)2023

Self-Synchronized Grid Impedance Estimation Unit using Interpolated DFT Technique

Drazen Dujic, Andrea Cervone, Jules Christian Georges Macé

Estimating the impedance of a grid-connected device or of a grid at the point of common coupling is important for evaluating the interaction between them. Impedance measurement involves a perturbation injection device, that perturbs the system, and a measu ...

2023

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

Control of intermetallics in the interface in directed energy deposition of titanium on stainless steel 316L

Di Cui

Application of a single metal or alloy is often restricted by its properties from optimal combination of performance and cost. Therefore, there is a vast need of joining dissimilar metals for various applications in biomedical, aerospace, automobile and ma ...

EPFL2023

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

Arzu Güneysu Özgür, Daniel Carnieto Tozadore

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 ...

Association for Computing Machinery2023

Experimental Investigation of Instability-Free Welded Moment Connections With Simplified Weld Details

Dimitrios Lignos, Andronikos Skiadopoulos

In capacity designed steel moment resisting frames, inelastic deformations are mostly concentrated in the steel beams and the column fixed ends of the first story. This design concept limits the participation of the column web’s panel zone in the energy di ...

2023

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Aude Billard, Rui Wu

In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and tran ...

2021

Damping of flexure blades based on bi-material additive manufacturing

Simon Nessim Henein, Florent Cosandier, Loïc Benoît Tissot-Daguette, Nikola Kalentics, Florent Alexandre Boudoire, Elias Sebastian Klauser

Flexure-based mechanisms have become state-of-the-art solutions for the design of high-precision mechanisms, free from friction wear, backlash, and lubrication. These properties which are necessary for applications in ultraclean or harsh environments, neve ...

2023

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