A Minimal Set of Coordinates for Describing Humanoid Shoulder Motion
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We describe a methodology for the interactive definition of curves and motion paths using a stochastic formulation of optimal control. We demonstrate how the same optimization framework can be used in different ways to generate curves and traces that are g ...
The synthesis of shoulder kinematics, either for simulation in a model or imitation in a robot, is a challenging task because of the contact between shoulder blade and ribcage. As the shoulder moves, the shoulder blade glides over the ribcage. In kinematic ...
This work presents a wearable device and the algorithms for quantitative modelling of joint spasticity and its application in a pilot group of subjects with different levels of spinal cord injury. The device comprises light-weight instrumented handles to m ...
The term "shoulder formation" refers to an increase of the density decay length in the scrape-off layer (SOL) observed in many tokamaks during L-mode operation when a density threshold is reached. Recent experiments in ASDEX Upgrade (AUG) and JET have show ...
This paper investigates the interactive locomotion for physically coupled bipedal agents using a human-human object carrying experiment and a simple mathematical model. The model is based on the Spring Loaded Inverted Pendulum (SLIP) and on the assumption ...
The research presented in this thesis addresses the design of gear drives for micro engineering applications, and was performed in collaboration with a watch manufacturer. Gears have long been found in many fields of mechanical engineering. Their use in wa ...
Background: Common scales for clinical evaluation of post-stroke upper-limb motor recovery are often complemented with kinematic parameters extracted from movement trajectories. However, there is no a general consensus on which parameters to use. Moreover, ...
Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...
This study provides a novel approach for designing a rotary hexapod with a single actuator and definable motion of a platform. Hexapod is a parallel structure mechanism with six legs and six degrees of freedom (DoF) of an end-effector. It is not an underac ...
The estimation of joint kinematics from skin markers is hindered by the soft tissue artefact (STA), a well-known phenomenon although not fully characterized. While most assessments of the STA have been performed based on the individual skin markers displac ...