Publication

Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain

Related publications (33)

Compliant control of Uni/ Multi- robotic arms with dynamical systems

Accomplishment of many interactive tasks hinges on the compliance of humans. Humans demonstrate an impressive capability of complying their behavior and more particularly their motions with the environment in everyday life. In humans, compliance emerges fr ...

EPFL2018

Compliant control of Uni/ Multi- robotic arms with dynamical systems

Seyed Sina Mirrazavi Salehian

EPFL2018

An Overview on Principles for Energy Efficient Robot Locomotion

Salman Faraji

Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...

FRONTIERS MEDIA SA2018

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Peter Eckert

Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common benchmark can be found. Further, it is unclear, what minimal leve ...

EPFL2018

Passive Interaction Control With Dynamical Systems

Aude Billard, Klas Jonas Alfred Kronander

Abstract: Autonomous dynamical systems (DS) has emerged as an extremely flexible and powerful method for modeling robotic tasks. Task execution of DS models is typically done in an open-loop manner in combination with standard low level controller, e.g. po ...

2016

Adaptive foot design for small quadruped robots

Auke Ijspeert, Peter Eckert

Biologically inspired robots that are used for research of the animal and the technological realm become more and more refined. Control schemes for sensor-less and sensorized robots were developed, are able to handle torque control and sometimes even adapt ...

2016

Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty (RSS 2016 Best Student Paper Award)

Aude Billard, Nadia Barbara Figueroa Fernandez, Seyed Sina Mirrazavi Salehian

Coordinated control strategies for multi-robot systems are necessary for tasks that cannot be executed by a single robot. This encompasses tasks where the workspace of the robot is too small or where the load is too heavy for one robot to handle. Using mul ...

2016

Catching Objects in Flight

Aude Billard, Ashwini Shukla, Seungsu Kim

We address the difficult problem of catching in-flight objects with uneven shapes. This requires the solution of three complex problems: accurate prediction of the trajectory of fastmoving objects, predicting the feasible catching configuration, and planni ...

Institute of Electrical and Electronics Engineers2014

Decentralized Self-Selection of Swarm Trajectories: From Dynamical Systems to Robotic Implementation

Francesco Mondada, Max-Olivier Hongler, Guillaume Adrien Sartoretti, Marcelo Elias de Oliveira

In this paper, we present a distributed control strategy, enabling agents to converge onto and travel along a consensually selected curve among a class of closed planar curves. Individual agents identify the number of neighbors within a finite circular sen ...

Springer Verlag2014

Learning by Imitation with the STIFF-FLOP Surgical Robot: A Biomimetic Approach Inspired by Octopus Movements

Sylvain Calinon

Transferring skills from a biological organism to a hyper-redundant system is a challenging task, especially when the two agents have very different structure/embodiment and evolve in different environments. In this article we propose to address this probl ...

2014

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