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This thesis presents possible computational mechanisms by which a humanoid robot can develop a coherent representation of the space within its reach (its peripersonal space), and use it to control its movements. Those mechanisms are inspired by current the ...
We present a novel yet simple 3D stereo vision tracking algorithm which computes the position and orientation of an object from the location of markers attached to the object. The novelty of this algorithm is that it does not assume that the markers are tr ...
We present a model of human-like reaching movements. This model is then used to give a humanoid robot the ability to imitate human reaching motions. It illustrates that having a robot control similar to human control can greatly ease the human-robot intera ...
We present an algorithm enabling a humanoid robot to visually learn its body schema, knowing only the number of degrees of freedom in each limb. By “body schema” we mean the joint positions and orientations and thus the kinematic function. The learning is ...
Closed-form solutions are traditionally used in computer vision for estimating rigid body transformations. Here we suggest an iterative solution for estimating rigid body transformations and prove its global convergence. We show that for a number of applic ...
In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian Mixture Regression, the task constraints ar ...
The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots that can be accomplished by everyone. When a demonstrator teaches a task to a robot, he/she shows some ways of fulfilling the task, but ...
This paper presents a robotic arm controller for reaching motions. This controller applies two principles inspired by current theories of human reaching motions, namely the multi-referential control of movements and the dynamical system approach to biologi ...
We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture, and correctly reproduce it despite changes in the initial conditions, and perturbations in the envir ...
We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multi-referential control and dynamical system control. The resulting controller is based on two co ...