Publications associées à Calibration of the 5-dof parallel kinematics HITA-STT

Publications associées (31)

Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator

Simon Nessim Henein, Loïc Benoît Tissot-Daguette

The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...

2024

Near-Zero Parasitic Shift Flexure Pivots Based on Coupled n-RRR Planar Parallel Mechanisms

Simon Nessim Henein, Etienne Frédéric Gabriel Thalmann, Florent Cosandier, Loïc Benoît Tissot-Daguette

Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radi ...

2024

Design of a Flexure-Based Flywheel for the Storage of Angular Momentum and Kinetic Energy

Simon Nessim Henein, Hubert Pierre-Marie Benoît Schneegans, Florent Cosandier, Patrick Robert Flückiger

The flywheel is a widespread mechanical component used for the storage of kinetic energy and angular momentum. It typically consists of cylindrical inertia rotating about its axis on rolling bearings, which involves undesired friction, lubrication, and wea ...

2024

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

Silvestro Micera

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 ...

Edizioni Minerva Medica2023

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

Sudong Lee

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

2023

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

Aude Billard, Kunpeng Yao, Farshad Khadivar, Xiao Gao

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

Elsevier2023

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

Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

IEEE2023

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

Auke Ijspeert, Karen Ann J Mulleners, Kamilo Andres Melo Becerra, Laura Isabel Paez Coy, Alexandros Anastasiadis

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Nature Research2023

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Aude Billard, Harshit Khurana

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

IEEE2023

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

Alexander Gehrke

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. ...

EPFL2023

Dynamic Modeling of an Origami Prismatic Joint

Jamie Paik, Jian-Lin Huang, Mustafa Mete

Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes thei ...

IEEE2023

The General Crack Component Model for reversed cyclic shear

David Michael Volpe Ruggiero

A growing body of research has shown that reversed cyclic shear loading of reinforced concrete (RC) causes effects that are not accounted for in monotonic behavioral models. Notable among these effects are a reduction in shear strength and significant plas ...

2023

Implicit Distance Functions: Learning and Applications in Robotics

Mikhail Koptev

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 ...

EPFL2023

C-shells: Deployable Gridshells with Curved Beams

Mark Pauly, Francis Julian Panetta, Yingying Ren, Quentin Christian Becker, Seiichi Eduardo Suzuki Erazo, Davide Pellis

We introduce a computational pipeline for simulating and designing C-shells, a new class of planar-to-spatial deployable linkage structures. A C-shell is composed of curved flexible beams connected at rotational joints that can be assembled in a stress-fre ...

Association for Computing Machinery (ACM)2023

Mechanism balancing taxonomy

Simon Nessim Henein, Hubert Pierre-Marie Benoît Schneegans, Florent Cosandier

The balancing of mechanisms consists in distributing their moving masses, inertias, and elastic components in order to achieve key mechanical properties, such as the elimination of the shaking forces and moments exported onto their supporting structure or ...

2023

Zero Parasitic Shift Pivoting Kinematic Structures Based On Coupled N-RRR Planar Parallel Mechanisms For Flexure Pivot Design

Simon Nessim Henein, Etienne Frédéric Gabriel Thalmann, Florent Cosandier, Loïc Benoît Tissot-Daguette

Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radi ...

ASME Amer Soc Mechanical Engineers2023

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

Auke Ijspeert, Andrea Di Russo, Dimitar Yuriev Stanev

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Iop Publishing Ltd2023

VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior

Sylvain Calinon, Julius Maximilian Jankowski

Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are sufficiently high ...

IEEE2023

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

Mathias Guy Delahaye

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

EPFL2023

Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

Nicolas Henry Pierre Louis Rogeau

The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

EPFL2023