Publication

On the Generation of a Variety of Grasps

Publications associées (29)

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Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not th ...

Ieee-Inst Electrical Electronics Engineers Inc2018

A singularity-tolerant inverse kinematics including joint position and velocity limitations

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Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...

2017

Distributed Rate Allocation in Switch-Based Multiparty Videoconferencing System

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Multiparty videoconferences, or more generally multiparty video calls, are gaining a lot of popularity as they offer a rich communication experience. These applications have, however, large requirements in terms of both network and computational resources ...

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Maximizing Symmetric Submodular Functions

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Symmetric submodular functions are an important family of submodular functions capturing many interesting cases, including cut functions of graphs and hypergraphs. Maximization of such functions subject to various constraints receives little attention by c ...

Association for Computing Machinery2017

Riemannian Optimization for Solving High-Dimensional Problems with Low-Rank Tensor Structure

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EPFL2016

Design, analysis, testing and applications of two-body and three-body kinematic mounts

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Kinematic couplings are used when two rigid bodies need to be repeatedly and accurately positioned with respect to each other. They allow for sub-micron positioning repeatability by suppressing play and reducing strains in the bodies. Typical applications ...

EPFL2016

On Computing Task-Oriented Grasps

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This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a se ...

Elsevier2015

Practical considerations in using inverse dynamics on a humanoid robot: torque tracking, sensor fusion and Cartesian control laws

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Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...

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On the Use of Transient Information for Static Real-Time Optimization

Dominique Bonvin, Grégory François, Alejandro Gabriel Marchetti

Optimal operation of chemical processes is key for meeting productivity, quality, safety and environmental objectives. Both model-based and data-driven schemes are used to compute optimal operating conditions [1]: - The model-based techniques are intu ...

2015