Publications associées à A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

Publications associées (36)

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

Generalization and Personalization of Machine Learning for Multimodal Mobile Sensing in Everyday Life

Lakmal Buddika Meegahapola

A range of behavioral and contextual factors, including eating and drinking behavior, mood, social context, and other daily activities, can significantly impact an individual's quality of life and overall well-being. Therefore, inferring everyday life aspe ...

EPFL2024

Device for exercising cervical spine

Aude Billard, Kunpeng Yao, Miao Li

It is disclosed a wearable device (1) for exercising cervical spine, in particular for rehabilitation exercises for cervical spine disorders. The wearable device (1) includes -a structure (2) comprising a support (3) suitable to be worn on shoulders of a u ...

2024

Pipelined Architecture for Soft-Decision Iterative Projection Aggregation Decoding for RM Codes

Alexios Konstantinos Balatsoukas Stimming, Yuqing Ren

The recently proposed recursive projection-aggregation (RPA) decoding algorithm for Reed-Muller codes has received significant attention as it provides near-ML decoding performance at reasonable complexity for short codes. However, its complicated structur ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

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

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

An Efficient Threshold Access-Structure for RLWE-Based Multiparty Homomorphic Encryption

Jean-Pierre Hubaux, Christian Vincent Mouchet

We propose and implement a multiparty homomorphic encryption (MHE) scheme with a t-out-of -N-threshold access-structure that is efficient and does not require a trusted dealer in the common random string model. We construct this scheme from the ring-learni ...

SPRINGER2023

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

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

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

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

Deplatforming did not decrease Parler users' activity on fringe social media

Robert West, Manoel Horta Ribeiro

Online platforms have banned ("deplatformed") influencers, communities, and even entire websites to reduce content deemed harmful. Deplatformed users often migrate to alternative platforms, which raises concerns about the effectiveness of deplatforming. He ...

OXFORD UNIV PRESS2023

DChannel: Accelerating Mobile ApplicationsWith Parallel High-bandwidth and Low-latency Channels

Haitham Al Hassanieh

Interactive mobile applications like web browsing and gaming are known to benefit significantly from low latency networking, as applications communicate with cloud servers and other users' devices. Emerging mobile channel standards have not met these needs ...

USENIX ASSOC2023

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

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

Participation citoyenne et numérique. Les civic tech : de nouveaux dispositifs pour planifier le territoire ?

Armelle Loreline Hausser

Civic technologies emerged a few years ago as tools to create new dynamics in the management and governance of urban planning, as well as renewing participatory democracy. In territories where the collision of different scales complicates the understanding ...

EPFL2023

TCB-spline-based isogeometric analysis method with high-quality parameterizations

Xiaodong Wei

Isogeometric analysis (IGA) was introduced to integrate methods for analysis and computer-aided design (CAD) into a unified process. High-quality parameterization of a physical domain plays a crucial role in IGA. However, obtaining high-quality parameteriz ...

ELSEVIER SCIENCE SA2022

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

2022

Distributionally Robust Joint Chance-Constrained Dispatch for Integrated Transmission-Distribution Systems via Distributed Optimization

Colin Neil Jones, Yuning Jiang

This paper focuses on the distributionally robust dispatch for integrated transmission-distribution (ITD) systems via distributed optimization. Existing distributed algorithms usually require synchronization of all subproblems, which could be hard to scale ...

2022