End-to-End Planner for Self-Reconfigurable Modular Robots Collaborative Objects Manipulation, Transport and Handover to Human Application

Chattez avec Graph Search

Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.

AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.

Due to the complexity of deformations in soft manipulators, achieving precise control of their orientation is particularly challenging, especially in the presence of external disturbances and human interactions. Inspired by the decentralized growth mechani ...

The morphology and structure play a crucial role in shaping the behavior and functionality of both biological and robotic systems. In this work, we are inspired by morphogenesis, a fundamental biological process that encompasses the emergence of organs and ...

The real-time optimization scheme “modifier adaptation” (MA) has been developed to enforce steady-state plant optimality in the presence of model uncertainty. The key feature of MA is its ability to locally modify the model by adding bias and gradient corr ...

Visuo-motor integration shapes our daily experience and underpins the sense of feeling in control over our actions. The last decade has seen a surge in robotically and virtually mediated interactions, whereby bodily actions ultimately result in an artifici ...

Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on finding a single optimal trajectory, which is then typically tracked by another ...

In this paper, we present a simple control framework for online push recovery on biped robots with dynamic stepping properties. Owing to relatively heavy legs in our humanoid robot COMAN, we use a linear model called 3LP, which is composed of three pendulu ...

Animals display an enormous versatility and a remarkable ability to adapt to changes in environment and terrain. Research in bio-inspired robotics strives to transfer these skills to robots, including legged systems. Even though animals seemingly effortles ...

Haptic interfaces can recreate the experience of touch and are necessary to improve human-robot interactions. However, at present, haptic interfaces are either electromechanical devices eliciting very limited touch sensations or devices that may provide mo ...

We consider the problem of estimating a probability distribution that maximizes the entropy while satisfying a finite number of moment constraints, possibly corrupted by noise. Based on duality of convex programming, we present a novel approximation scheme ...

In this article, we present Cellulo, a novel robotic platform that investigates the intersection of three ideas for robotics in education: designing the robots to be versatile and generic tools; blending robots into the classroom by designing them to be pe ...

Measuring ``how much the human is in the interaction'' -- the level of engagement -- is instrumental in building effective interactive robots. Engagement, however, is a complex, multi-faceted cognitive mechanism that is only indirectly observable. This art ...

There is a growing interest in using robots in dangerous environments, such as for exploration, search-and-rescue or monitoring applications, in order to reduce the risks for workers or rescuers and to improve their efficiency. Typically, flying robots off ...

We consider the real-time optimization of static plants and propose a generalized version of the modifier-adaptation strategy that relies on second-order adaptation of the cost and constraint functions. We show that second-order adaptation allows checking ...

Manipulation and transport of objects using mobile robotic platforms is a well studied field with several successful approaches. The main difficulty while using such platforms is the lack of adaptation capabilities to changes in the environment and the res ...

End-to-End Planner for Self-Reconfigurable Modular Robots Collaborative Objects Manipulation, Transport and Handover to Human Application

Chattez avec Graph Search

Plant-inspired decentralized controller for robust orientation control of soft robotic manipulators

Environmentally-Driven Morphogenesis of Reconfigurable Floating Structures using Markov Models

On speeding-up modifier-adaptation schemes for real-time optimization

Neural signatures of visuo-motor integration during human-robot interactions

Probabilistic Iterative LQR for Short Time Horizon MPC

Bipedal walking and push recovery with a stepping strategy based on time-projection control

Compliance, locomotion and local computation in (self-) reconfigurable modular robots

A portable three-degrees-of-freedom force feedback origami robot for human-robot interactions

Generalized maximum entropy estimation

Cellulo: Versatile Handheld Robots for Education

From Real-time Attention Assessment to “With-me-ness” in Human-Robot Interaction

Adaptive Morphology for Multi-Modal Locomotion

On the Use of Second-Order Modifiers for Real-Time Optimization

Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots