Publication

Passive Interaction Control With Dynamical Systems

Related publications (33)

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.

, ,

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

MIT PRESS2019

, , ,

Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. However, ...

IEEE2019

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

A survey on policy search algorithms for learning robot controllers in a handful of trials

Sylvain Calinon

Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt with only a handf ...

2019

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

Seyed Sina Mirrazavi Salehian

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

Do Children Perceive Whether a Robotic Peer is Learning or Not?

Pierre Dillenbourg, Hang Yin, Shruti Chandra, Ana Paiva

Social robots are being used to create better educational scenarios, thereby fostering children's learning. In the work presented here, we describe an autonomous social robot that was designed to enhance children's handwriting skills. Exploiting the benefi ...

ASSOC COMPUTING MACHINERY2018

Learning Autonomous Behaviours for the Body of a Flexible Surgical Robot

Sylvain Calinon

This paper presents a novel strategy to learn a positional controller for the body of a flexible surgical manipulator used for minimally invasive surgery. The manipulator is developed within the STIFF-FLOP European project and is targeted for a laparoscopi ...

2017

Cognitive Architecture for Mutual Modelling

Pierre Dillenbourg, Wafa Monia Benkaouar Johal, Alexis David Jacq, Ana Paiva

In social robotics, robots needs to be able to be understood by humans. Especially in collaborative tasks where they have to share mutual knowledge. For instance, in an educative scenario, learners share their knowledge and they must adapt their behaviour ...

2016

Decentralized multi-robot coordination in crowded workspaces

Laleh Makarem

The coordination of multi-robot systems is becoming one of the most important areas of research in robotics, mostly because it is required by numerous complex applications. These applications range from intelligent transportation systems, search and rescue ...

EPFL2015