Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.
DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.
We consider dynamical systems whose parameters are switched within a discrete set of values at equal time intervals. Similar to the blinking of the eye, switching is fast and occurs stochastically and independently for different time intervals. There are t ...
The problem of steering a dynamical system toward optimal steady-state performance is considered. For this purpose, a static optimization problem can be formulated and solved. However, because of uncertainty, the optimal steady-state inputs can rarely be a ...
Nonlinear dynamical systems have been used in many disciplines to model complex behaviors, including biological motor control, robotics, perception, economics, traffic prediction, and neuroscience. While often the unexpected emergent behavior of nonlinear ...
The present work belongs to the vast body of research devoted to behaviors that emerge when homogeneous or heterogeneous agents interact. We adopt a stylized point of view in which the individual agents' activities can be assimilated into nonlinear dynamic ...
In this thesis we describe a strategy to control robotic knees and ankles. A dynamical system is used to generate a position trajectory to control a servo motor replacing the missing joint. The dynamical system consists in a pool of coupled oscillators mod ...
We present a new formulation for autonomous (i.e. time-independent) Dynamical Systems (DS) to perform discrete robot motions with em non-zero velocity at a given target. The proposed model ensures the convergence of all trajectories to the target, and is i ...
Human motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. T ...
We discuss the adaptive behaviour of a collection of heterogeneous dynamical systems interacting via a weighted network. At each vertex, the network is endowed with a dynamical system with individual (initially different) control parameters governing the l ...
Non-linear dynamical systems (DS) have been used extensively for building generative models of human behavior. Their applications range from modeling brain dynamics to encoding motor commands. Many schemes have been proposed for encoding robot motions usin ...
This paper presents a method for learning discrete robot motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) Dynamical System (DS), and define sufficient conditions to ensure global asymptotic stability a ...
