Publication

Reinforcement learning for scaffold-free construction of spanning-structures

Publications associées (30)

Motion Planning and Inertia Based Control for Impact Aware Manipulation

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

2023

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals

Aude Billard, José del Rocio Millán Ruiz, Fumiaki Iwane

During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

Nature Portfolio2023

Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Konstantinos Chatzilygeroudis, Farshad Khadivar

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

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

Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

Nicolas Henry Pierre Louis Rogeau

The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

EPFL2023

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

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

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Utku Norman

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

EPFL2023

Morphological flexibility in robotic systems through physical polygon meshing

Jamie Paik, Christoph Heinrich Belke, Kevin Andrew Holdcroft, Alexander Thomas Sigrist

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Nature Portfolio2023

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Josephine Anna Eleanor Hughes, Francesco Stella

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023