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We present a generic framework that allows learning non- linear dynamics of motion in manipulation tasks and generating dynamical laws for control of position and orientation. This work follows a recent trend in Programming by Demonstration in which the dy ...
We present a novel approach to mobile object manipulation for service in indoor environments. Current research in service robotics focus on single robots able to move, manipulate objects, and transport them to various locations. Our approach differs by tak ...
A major issue in the field of human-robot interaction for assistance to manipulation is transparency. This basic feature qualifies the capacity for a robot to follow human movements without any human-perceptible resistive forces. In this paper we address t ...
Agile autonomous systems are emerging, such as unmanned aerial vehicles (UAVs), that must robustly perform tightly coordinated time-critical missions; for example, military surveillance or search-and-rescue scenarios. In the space domain, execution of temp ...
The context of this thesis is the interactive manipulation of complex articulated figures by means of geometric constraints (here called tasks), for the purpose of posture control and design. The goal is to determine a posture satisfying a set of prescribe ...
The possibility to use information from cortical neurons to drive neuroprosthetic devices is an area that has recently garnered a lot of attention within neuroscience. Most of this research has been directed towards restoring upper limb motility. In this s ...
Controlling a robotic device by using human brain signals is an interesting and challenging task. The device may be complicated to control and the non-stationary nature of the brain signals provides for a rather unstable input. With the use of intelligent ...
In robotics we depend on software tools during design, modeling, programming and testing. These tools are essentials, often indispensable aids for developing and operating sophisticated robotic systems. At the same time, these tools are complex and usually ...
Human interactive robots continue to improve human quality of life with their diverse applications. Their field includes, but is not limited to, haptic devices, force feedback tele-manipulation, surgical co-manipulation, medical rehabilitation, and various ...
We consider the problem of learning robust models of robot motion through demonstration. An approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) is proposed to extract redundancies across multiple demonstrations, and build a ti ...