Publication
Dynamical system for learning the waveform and frequency of periodic signals - application to drumming
Related publications (32)
Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation
Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...
EPFL2024Online Multicontact Receding Horizon Planning via Value Function Approximation
Sylvain Calinon, Teguh Santoso Lembono
Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...
Ieee-Inst Electrical Electronics Engineers Inc2024Hitting with Different Joints of a Robotic Manipulator
This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...
2024Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC
Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev
Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...
Sage Publications Ltd2024Passive Obstacle Aware Control to Follow Desired Velocity
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains complia ...
2024Gas Sensing with Rotary-Wing Nano Aerial Vehicles
Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives.When gas leaks occur, their ...
EPFL2024Memento Mori: Reliable robustness in self-reconfigurable modular robots
Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of function ...
EPFL2024Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots
Alcherio Martinoli, Wanting Jin
Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurement ...
2024Functional-Basis Analysis of Non-Stationary Signals in Modern Power Grids: Theory and Implementation in Embedded Systems
Situational awareness strategies are essential for the reliable and secure operation of the electric power grid which represents critical infrastructure in modern society. With the rise of converter-interfaced renewable generation and the consequent shift ...
EPFL2024Robot Learning using Tensor Networks
In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...
EPFL2024