Combining Dynamical Systems Control and Programming by Demonstration for Teaching Discrete Bimanual Coordination Tasks to a Humanoid Robot
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To design, to study, and to control mixed animals-robots societies is a challenging field of scientific exploration that can bring new frameworks to study individual and collective behaviors in animal and mixed robot-animal societies. In the Chicken Robot ...
Conventional robot motion teaching methods use a teaching pendant or a motion capture device and are not the most convenient or intuitive ways to teach a robot sophisticated and fluid movements such as martial arts motions. Ideally, a robot could be set up ...
Controlling robots with multiple degrees of freedom (DOFs) is still an open and challenging issue, notably because planning complex, multidimensional trajectories in time-varying environments is a laborious and costly process. In this dissertation, we prop ...
Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoi ...
Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements re ...
This paper presents an experiment in which the iCub humanoid robot learns to recognize faces through proprioceptive information. We take inspiration in the way blind people recognize people's faces, i.e. through tactile exploration of the person's face. Th ...
Gait and balance training is an essential ingredient for locomotor rehabilitation of patients with neurological impairments. Robotic overhead support systems may help these patients train, for example by relieving them of part of their body weight. However ...
In this paper, we investigate the task of addressee estimation in multi-party interactions. For every utterance from a human participant, the robot should know if it was being addressed or not, so as to respond and behave accordingly. To accomplish this va ...
In research of human-robot interactions, human likeness (HL) of robots is frequently used as an individual, vague parameter to describe how a robot is perceived by a human. However, such a simplification of HL is often not sufficient given the complexity a ...
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 ...