Publications associées à Robot Head Stabilization During Periodic Locomotion Using Adaptive Dynamical Systems

Publications associées (40)

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

Predicting Visual Stimuli From Cortical Response Recorded With Wide-Field Imaging in a Mouse

Silvestro Micera

Neural decoding of the visual system is a subject of research interest, both to understand how the visual system works and to be able to use this knowledge in areas, such as computer vision or brain-computer interfaces. Spike-based decoding is often used, ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Probing and modulating inter-areal coupling in the cortical visual motion processing pathway with non-invasive brain stimulation

Michele Bevilacqua

In the last few years, stroke ranked as the second most common cause of death and is the third most significant condition affecting disability-adjusted life years (DALYs) worldwide. Being the most prevalent and quality of life impacting post-stroke symptom ...

EPFL2024

Additive and geometric transversality of fractal sets in the integers

Florian Karl Richter

By juxtaposing ideas from fractal geometry and dynamical systems, Furstenberg proposed a series of conjectures in the late 1960's that explore the relationship between digit expansions with respect to multiplicatively independent bases. In this work, we in ...

2024

An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks

Sylvain Calinon

Humans use tools to complete impact-aware tasks, such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding a tool plays a ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Avian-Inspired Claws Enable Robot Perching or Walking

Dario Floreano, William John Stewart, Won Dong Shin, Mohammad Askari

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

2023

Convolutional neural network classifies visual stimuli from cortical response recorded with wide-field imaging in mice

Silvestro Micera

Objective. The optic nerve is a good location for a visual neuroprosthesis. It can be targeted when a subject cannot receive a retinal prosthesis and it is less invasive than a cortical implant. The effectiveness of an electrical neuroprosthesis depends on ...

IOP Publishing Ltd2023

Efficient Learning of a Linear Dynamical System with Stability Guarantees

Daniel Kuhn, Wouter Jongeneel, Tobias Sutter

We propose a principled method for projecting an arbitrary square matrix to the non- convex set of asymptotically stable matrices. Leveraging ideas from large deviations theory, we show that this projection is optimal in an information-theoretic sense and ...

2023

Pathway and directional specificity of Hebbian plasticity in the cortical visual motion processing network

Friedhelm Christoph Hummel, Estelle Emeline Raffin, Michele Bevilacqua

Cortico-cortical paired associative stimulation (ccPAS), which repeatedly pairs single-pulse transcranial magnetic stimulation (TMS) over two distant brain regions, is thought to modulate synaptic plasticity. We explored its spatial selectivity (pathway an ...

2023

The full-body illusion changes visual depth perception

Olaf Blanke, Bruno Herbelin, Sophie Jacqueline Andrée Betka

Knowing where objects are relative to us implies knowing where we are relative to the external world. Here, we investigated whether space perception can be influenced by an experimentally induced change in perceived self-location. To dissociate real and ap ...

Nature Research2023

Estimating the Topology of Preferential Attachment Graphs Under Partial Observability

Ali H. Sayed

This work addresses the problem of learning the topology of a network from the signals emitted by the network nodes. These signals are generated over time through a linear diffusion process, where neighboring nodes exchange messages according to the underl ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

A Wide-Frequency-Tuning Micro-Loop-Gap Resonator for Miniature Rubidium Vapor-Cell Atomic Frequency Standards

Anja Skrivervik, Yuanyan Su

To miniaturize the double-resonance (DR) rubidium (Rb) vapor-cell atomic clocks, a new type of micro-loop-gap microwave resonator (mu-LGR) is proposed for TE011-like mode where the magnetic field inside the cavity is homogeneous and oriented along its long ...

Institute of Electrical and Electronics Engineers2023

Microsaccades Distinguish Looking From Seeing

Andreas Sonderegger, Andrea Regula Schneider

Understanding our visual world requires both looking and seeing. Dissociation of these processes can result in the phenomenon of inattentional blindness or 'looking without seeing'. Concomitant errors in applied settings can be serious, and even deadly. Cu ...

INT GROUP EYE MOVEMENT RESEARCH2019

Development of Visual Memory Capacity Following Early-Onset and Extended Blindness

Lukas Vogelsang

It is unknown whether visual memory capacity can develop if onset of pattern vision is delayed for several years following birth. We had an opportunity to address this question through our work with an unusual population of 12 congenitally blind individual ...

2022

Insect-Inspired Visual Perception for Flight Control and Collision Avoidance

Julien Jean Denis Nicolas Lecoeur

Flying robots are increasingly used for tasks such as aerial mapping, fast exploration, video footage and monitoring of buildings. Autonomous flight at low altitude in cluttered and unknown environments is an active research topic because it poses challen ...

EPFL2019

Predicting visual stimuli from cortical response recorded with widefield imaging in a mouse

Silvestro Micera

Optic nerve stimulation holds great potential for visual prostheses. Its effectiveness depends on the stimulation protocol, which can be optimized to achieve cortical activation similar to that evoked in response to visual stimuli. To identify a target cor ...

IEEE2022

Assessing Experiences and Visual Perception in Train Station Environments with a Mobile Application and Eye Tracking

Andrea Regula Schneider

The Customer Experience Management at the Swiss Federal Railways (SBB) experiments with new technologies and methods to capture experiences and perceptions of passengers to design safe and customer friendly environments. First, a new methodological approac ...

2022

Towards Modelling of Visual Saliency in Point Clouds for Immersive Applications

Touradj Ebrahimi, Evangelos Alexiou

Modelling human visual attention is of great importance in the field of computer vision and has been widely explored for 3D imaging. Yet, in the absence of ground truth data, it is unclear whether such predictions are in alignment with the actual human vie ...

2019

Perspectives: Hemianopia—Toward Novel Treatment Options Based on Oscillatory Activity?

Friedhelm Christoph Hummel, Estelle Emeline Raffin, Roberto Felipe Salamanca Giron

Stroke has become one of the main causes of visual impairment, with more than 15 million incidences of first-time strokes, per year, worldwide. One-third of stroke survivors exhibit visual impairment, and most of them will not fully recover. Some recovery ...

2019

Uncovering the neural substrates of communication between the brain and ventral nerve cord in Drosophila melanogaster (italic)

Florian Aymanns

Despite a long history of research in motor control, the exact mechanism of how the brain communicates with the the invertebrate ventral nerve cord (VNC) and the vertebrate spinal cord on a single neuron basis remains largely elusive. Drosophila melanogast ...

EPFL2022