Publication

Hybrid Operational Space Control for Compliant Legged Systems

Related publications (32)

A vibration control strategy using variable stiffness joints

Adaptive joints are structural joints made of materials with enhanced transduction properties that can vary their stiffness via solid-state actuation (e.g. thermal, mechanical). In this work, stiffness tuning is used to switch the joint between a ‘locked’ ...

2018

Ordering Events Based on Intentionality in Cyber-Physical Systems

Jean-Yves Le Boudec, Simon Bliudze, Wajeb Saab

We consider cyber-physical systems (CPSs) comprising a central controller that might be replicated for high-reliability, and one or more process agents. The controller receives measurements from process agents, causing it to compute and issue setpoints tha ...

2018

Markerless tracking of user-defined features with deep learning

Alexander Mathis, Mackenzie Mathis, Matthias Bethge, Pranav Mamidanna

Quantifying behavior is crucial for many applications in neuroscience. Videography provides easy methods for the observation and recording of animal behavior in diverse settings, yet extracting particular aspects of a behavior for further analysis can be h ...

2018

The Use of Variable Stiffness Joints in Adaptive Structures

Qian Wang, Gennaro Senatore

Adaptive structures are defined here as structures capable of counteracting actively the effect of external loads via controlled shape changes and redirection of the internal load path. These structures are integrated with sensors (e.g. strain, vision), co ...

2017

Ordering Events Based on Intentionality in Cyber-Physical Systems

Jean-Yves Le Boudec, Simon Bliudze, Wajeb Saab

2017

Analytical Time-Domain Solution of Plane Wave Propagation Across a Viscoelastic Rock Joint

Lyesse Laloui, Jian Zhao, Yang Zou

The effects of viscoelastic filled rock joints on wave propagation are of great significance in rock engineering. The solutions in time domain for plane longitudinal ( P-) and transverse ( S-) waves propagation across a viscoelastic rock joint are derived ...

Springer Verlag2017

Voltage stabilization in DC microgrids: an approach based on line-independent plug-and-play controllers

Giancarlo Ferrari Trecate

We consider the problem of stabilizing voltages in DC microGrids (mGs) given by the interconnection of Distributed Generation Units (DGUs), power lines and loads. We propose a decentralized control architecture where the primary controller of each DGU can ...

2016

A Hybrid Optimal Control Approach to Fuel-Efficient Aircraft Conflict Avoidance

Maryam Kamgarpour, John Lygeros

We formulate fuel-optimal conflict-free aircraft trajectory planning as a hybrid optimal control problem. The discrete modes of the hybrid system capture the air traffic procedures for conflict resolution, e.g., speed and turn advisories. To solve problems ...

2016

Evaluation of the effects of the Arm Light Exoskeleton on movement execution and muscle activities: a pilot study on healthy subjects

Silvestro Micera, Elvira Pirondini, Martina Coscia, Massimo Bergamasco

Background: Exoskeletons for lower and upper extremities have been introduced in neurorehabilitation because they can guide the patient's limb following its anatomy, covering many degrees of freedom and most of its natural workspace, and allowing the contr ...

Biomed Central Ltd2016

Experimental Implementation of Frequency Regulation Service Using Commercial Buildings

Colin Neil Jones, Ioannis Lymperopoulos, Tomasz Tadeusz Gorecki, Faran Ahmed Qureshi, Luca Fabietti, Altug Bitlislioglu

Frequency control reserves are a fundamental mechanism in the current electric power system to preserve the balance between demand and generation of active power at all times. The traditional approach is to exploit conventional power plants for frequency r ...

IEEE Transactions on Smart Grid2016

Graph Chatbot

Chat with Graph Search

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.