Publications associées à Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation

Publications associées (11)

Modeling and experimental study of a miniaturized magnetorheological valve with high performance

Yves Perriard, Christian Köchli, Sofia Lydia Ntella

Magnetorheological (MR) valves attracted the interest of researchers across diverse fields, owing to the controllable nature of MR fluid. The use of MR fluid in valves enables fast response, energy efficiency, and robustness, while several studies designed ...

Sage Publications Ltd2024

Report A sensory-motor hand prosthesis with integrated thermal feedback

Silvestro Micera, Solaiman Shokur, Outman Akouissi, Jonathan Louis Muheim

Background: Recently, we reported the presence of phantom thermal sensations in amputees: thermal stimulation of specific spots on the residual arm elicited thermal sensations in their missing hands. Here, we exploit phantom thermal sensations via a standa ...

Cell Press2024

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Hala Khodr

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

EPFL2023

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Josephine Anna Eleanor Hughes, Max Mirko Polzin

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

2023

Closed-loop technique based on gain balancing for real-time Brillouin optical time-domain analysis

Luc Thévenaz, Zhisheng Yang, Li Zhang, Ana Gabriela Correa Mena

A closed-loop servo control based on balancing the gain of two probing frequencies is proposed for real-time Brillouin optical time-domain analysis (BOTDA) without post-processing. With the most basic BOTDA hardware setup, the system can perform measuremen ...

2022

How Rough Is the Path? Terrain Traversability Estimation for Local and Global Path Planning

Tobias Löw

Perception and interpretation of the terrain is essential for robot navigation, particularly in off-road areas, where terrain characteristics can be highly variable. When planning a path, features such as the terrain gradient and roughness should be consid ...

IEEE Institute of Electrical and Electronics Engineers2022

A hybrid control strategy for force and precise end effector positioning of a twisted string actuator

Jamie Paik, Andres San Millan Rodriguez, Mohssen Fischer

We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show th ...

2021

On Topological Equivalence in Linear Quadratic Optimal Control

Daniel Kuhn, Wouter Jongeneel

Dynamical systems are topologically equivalent when their orbits can be mapped onto each other via a homeomorphic change of coordinates. We will show that in general, closed-loop systems resulting from Linear Quadratic Optimal Control problems are all topo ...

2021

Deep Reinforcement Learning for room temperature control: a black-box pipeline from data to policies

Colin Neil Jones, Loris Di Natale

Deep Reinforcement Learning (DRL) recently emerged as a possibility to control complex systems without the need to model them. However, since weeks long experiments are needed to assess the performance of a building controller, people still have to rely on ...

2021

Customizing skills for assistive robotic manipulators, an inverse reinforcement learning approach with error-related potentials

Aude Billard, José del Rocio Millán Ruiz, Ricardo Andres Chavarriaga Lozano, Iason Batzianoulis, Fumiaki Iwane, Carolina Gaspar Pinto Ramos Correia

Robotic assistance via motorized robotic arm manipulators can be of valuable assistance to individuals with upper-limb motor disabilities. Brain-computer interfaces (BCI) offer an intuitive means to control such assistive robotic manipulators. However, BCI ...

NATURE PORTFOLIO2021

Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning

Alexandre Massoud Alahi, Sven Kreiss, Yuejiang Liu

Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. However, ...

IEEE2019