Concept

Motion controller

Related publications (240)

Motion capture and reinforcement learning of dynamically stable humanoid movement primitives

Direct transfer of human motion trajectories to humanoid robots does not result in dynamically stable robot movements due to the differences in human and humanoid robot kinematics and dynamics. We developed a system that converts human movements captured b ...

IEEE2013

Correlation between spin structure oscillations and domain wall velocities

André Bisig

Magnetic sensing and logic devices based on the motion of magnetic domain walls rely on the precise and deterministic control of the position and the velocity of individual magnetic domain walls in curved nanowires. Varying domain wall velocities have been ...

Nature Publishing Group2013

Stable real-time full body motion imitation on the COMAN humanoid robot.

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...

2013

Kinect=IMU? Learning MIMO Signal Mappings to Automatically Translate Activity Recognition Systems Across Sensor Modalities

José del Rocio Millán Ruiz, Ricardo Andres Chavarriaga Lozano, Hesam Sagha, Daniel Roggen

We propose a method to automatically translate a pre-existing activity recognition system, devised for a source sensor domain S, so that it can operate on a newly discovered target sensor domain T , possibly of different modality. First, we use MIMO system ...

2012

Stochastic Source Seeking by Mobile Robots

Mahmut Selman Sakar

We consider the problem of designing controllers to steer mobile robots to the source (the minimizer) of a signal field. In addition to the mobility constraints, e.g., posed by the nonholonomic dynamics, we assume that the field is completely unknown to th ...

Institute of Electrical and Electronics Engineers2012

Effective information flow over mobile adaptive networks

Ali H. Sayed

Collective motion is a remarkable phenomenon in biological systems. There have been several models in the literature to regenerate this type of motion, such as averaging consensus strategies where nodes continuously average the velocity vectors of their ne ...

IEEE2012

Towards multimodal Haptics for teleoperation: Design of a Tactile Thermal Display

Hannes Bleuler, Giulio Rognini, Laura Santos Carreras

Surgical robotics is among the most challenging applications of motion control. Present and future systems are essentially master-slave systems. Our work focuses on force-feedback and haptic interfaces. In this context, we study multimodal haptic interface ...

2012

System and method for 3d gait assessment

Kamiar Aminian, Benoît Mariani

The invention relates to a system and a method for assessment of walking and running gait in human. The method is preferably based on the fusion of a portable device featuring inertial sensors and several new dedicated signal processing algorithms: the det ...

2012

Gait Assessment in Duchenne Muscular Dystrophy Children during Long-Distance Walking

Kamiar Aminian, Anisoara Ionescu, Raluca Lidia Ganea

The aim of this study was to investigate the alteration of the gait pattern in 25 children with Duchenne muscular dystrophy, using body-worn inertial sensors during a long walking distance. Normalized spatiotemporal gait parameters and their variability we ...

2012

Triangular formation control using range measurements: an application to marine robotic vehicles

Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar

This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leader ...

2012

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