Concept
Forward kinematics
Related publications (168)
Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot
Auke Ijspeert, Karen Ann J Mulleners, Kamilo Andres Melo Becerra, Alexandros Anastasiadis, Laura Isabel Paez Coy, Eric Daniel Tytell
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 ...
2023Exploration-based model learning with self-attention for risk-sensitive robot control
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 ...
2023Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model
Auke Ijspeert, Andrea Di Russo, Dimitar Yuriev Stanev, Anushree Bapusaheb Sabnis, Stéphane Armand
Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...
Bristol2023Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC
Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan
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 ...
IEEE2023Crack kinematics prediction in concrete structures and assessment of their criticality
The observation of cracks in normally functioning reinforced concrete (RC) structures is expected as the tensile strength of concrete is relatively low. However, one or more of those cracks can start to propagate with increasing crack openings, localizing ...
2023The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight
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.I ...
EPFL2023From finger animation to full-body embodiment of avatars with different morphologies and proportions
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 V ...
EPFL2023Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control
Aude Billard, Mikhail Koptev, Nadia Barbara Figueroa Fernandez
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 ...
2022Does anodal cerebellar tDCS boost transfer of after-effects from throwing to pointing during prism adaptation?
Lisa Aïcha Mireille Julie Fleury
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 ...
FRONTIERS MEDIA SA2022