Publication

Learning Nonlinear Multi-Variate Motion Dynamics for Real- Time Position and Orientation Control of Robotic Manipulators

Publications associées (28)

The Role of the Control Framework for Continuous Teleoperation of a Brain-Machine Interface-Driven Mobile Robot

José del Rocio Millán Ruiz, Luca Tonin, Felix Christian Bauer

Despite the growing interest in brain-machine interface (BMI)-driven neuroprostheses, the translation of the BMI output into a suitable control signal for the robotic device is often neglected. In this article, we propose a novel control approach based on ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Thought consciousness and source monitoring depend on robotically-controlled sensorimotor conflicts and illusory states

Hannes Bleuler, Olaf Blanke, Pierre Progin, Masayuki Hara, Giulio Rognini, Polona Pozeg, Roy Salomon, Andrea Serino, Marco Solcà, Fosco Bernasconi, Herberto Dhanis Pedro De Barros Camacho, Giedre Stripeikyte

Thought insertion (TI) is characterized by the experience that certain thoughts, occurring in one’s mind, are not one’s own, but the thoughts of somebody else and suggestive of a psychotic disorder. We report a robotics-based method able to investigate the ...

2020

A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys

Aude Billard, Sophie Marie Marthe Wurth, Marion Aimée Geneviève Badi-Dubois, Silvestro Micera, Marco Capogrosso, Seyed Sina Mirrazavi Salehian, Sara Conti

Objective. Translational studies on motor control and neurological disorders require detailed monitoring of sensorimotor components of natural limb movements in relevant animal models. However, available experimental tools do not provide a sufficiently ric ...

IOP PUBLISHING LTD2020

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

Development and Comparison of Foot Interfaces for Controlling a Robotic Arm in Surgery

Hannes Bleuler, Mohamed Bouri, Etienne Burdet, Elahe Abdi

Currently available foot interfaces to command an external assistive robotic arm for laparoscopic surgery typically consist of a couple of push buttons placed on a planar platform. In this paper, we develop and compare two foot interfaces implementing isot ...

IEEE2018

Multi-contact tactile exploration and interaction with unknown objects

Nicolas Sommer

Humans rely on the sense of touch in almost every aspect of daily life, whether to tie shoelaces, place fingertips on a computer keyboard or find keys inside a bag. With robots moving into human-centered environment, tactile exploration becomes more and mo ...

EPFL2017

Shoaling with fish: using miniature robotic agents to close the interaction loop with groups of zebrafish Danio rerio

Frank Bonnet

Robotic animals are nowadays developed for various types of research, such as bio-inspired robotics, biomimetics and animal behavior studies. The miniaturization of technologies and the increase in performance of embedded systems allowed engineers to devel ...

EPFL2017

Dynamical System-based Motion Planning for Multi-Arm Systems: Reaching for moving objects

Aude Billard, Seyed Sina Mirrazavi Salehian, Nadia Barbara Figueroa Fernandez

The use of coordinated multi-arm robotic systems allows to preform manipulations of heavy or bulky objects that would otherwise be infeasible for a single-arm robot. This paper concisely introduces our work on coordinated multi-arm control [Salehian et al. ...

2017