Integration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robot

Chattez avec Graph Search

Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.

AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

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 ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in an environment wi ...

The deployment of robots for Gas Source Lo- calization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersi ...

Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are sufficiently high ...

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

Prism Adaptation (PA) is a useful method to study the mechanisms of sensorimotor adaptation. After-effects following adaptation to the prismatic deviation constitute the probe that adaptive mechanisms occurred, and current evidence suggests an involvement ...

The largest source of systematic errors in the time-delay cosmography method likely arises from the lens model mass distribution, where an inaccurate choice of model could in principle bias the value of H-0. A Bayesian hierarchical framework has been propo ...

Dynamic stall on airfoils negatively impacts their aerodynamic performance and can lead to structural damage. Accurate prediction and modelling of the dynamic stall loads are crucial for a more robust design of wings and blades that operate under unsteady ...

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to perturbations in motion planning and physical human-robot interaction tasks. Learning DS-based motion plans from non-linear reference trajectories is an active research ...

As one of the three most popular sports in the Summer Olympics, competitive swimming has always been an attractive subject of study for sports scientists. The intricate nature of the swimmer's movements and the variety of techniques have led coaches to req ...

Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

Integration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robot

Chattez avec Graph Search

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Exploration-based model learning with self-attention for risk-sensitive robot control

Implicit Distance Functions: Learning and Applications in Robotics

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Certification of Bottleneck Task Assignment With Shortest Path Criteria

Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots

VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior

Memory of Motion for Initializing Optimization in Robotics

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Does anodal cerebellar tDCS boost transfer of after-effects from throwing to pointing during prism adaptation?

TOCOSMO VIII. A key test of systematics in the hierarchical method of time-delay cosmography

All you need is time to generalise the Goman-Khrabrov dynamic stall model

Locally active globally stable dynamical systems: Theory, learning, and experiments

SmartSwim: A novel approach to swimming analysis and coaching assistance based on wearable inertial sensors

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers