Learning Optimal Controllers in Human-robot Cooperative Transportation Tasks with Position and Force Constraints
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.
In modern robots and industrial machine tools, acceleration times begin to prevail over cruising times. This paper demonstrates the important relations between acceleration shape and the various characteristics of a drive system. These characteristics are ...
In robotics we depend on software tools during design, modeling, programming and testing. These tools are essentials, often indispensable aids for developing and operating sophisticated robotic systems. At the same time, these tools are complex and usually ...
A global approach to the problem of model-based control of fast parallel robots is proposed in this work. Fundamental differences between the well-known serial arms and parallel manipulators are first explained. A formalism inspired from Denavit-Hartenberg ...
We describe a set of preliminary experiments to evolve spiking neural controllers for a vision-based mobile robot. All the evolutionary experiments are carried out on physical robots without human intervention. After discussing how to implement and interfa ...
This paper is concerned with adaptation capabilities of evolved neural controllers. We propose to evolve mechanisms for parameter self-organization instead of evolving the parameters themselves. The method consists of encoding a set of local adaptation rul ...
In this paper an evolutionary method consisting of encoding a set of local adaptation rules that synapses obey while a robot freely moves in the environment is compared to standard evolution of fixed-weight control networks. The results show ha evolutionar ...
In this paper we describe the evolution of a discrete-time recurrent neural network to control a real mobile robot. In all our experiments the evolutionary procedure is carried out entirely on the physical robot without human intervention. We show that the ...
Robot learning by imitation makes an increasing body of robotics research. Imitation learning complements motor learning techniques by restricting the search space to a computationally tractable subset. Imitation learning search for spatial and temporal in ...
Evolutionary Robotics is a powerful method to generate efficient controllers with minimal human intervention, but its applicability to real-world problems remains a challenge because the method takes long time and it requires software simulations that do n ...
This paper presents the latest results of a joint research project involving the Institute of Microengineering of the Swiss Federal Institute of Technology (Switzerland) and the Industrial Automation Laboratory of the Lyon National Institute of Applied Sci ...
