Mechanical Stability Margin for Scouting Poses in Modular Snake Robots
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.
The majority of learning from demonstration approaches do not address suboptimal demonstrations or cases when drastic changes in the environment occur after the demonstrations were made. For example, in real teleoperation tasks, the demonstrations provided ...
This paper presents an automatic coupling mechanism with mechanical overload protection for use in modular robotic systems. The genderless coupling incorporates a novel safety mechanism that disengages two modules at a pre-defined torque threshold. Several ...
The design of doubly-curved systems called for innovative modelling techniques to evaluate the final geometry of the structure. They can simulate the behaviour of beams under large displacements. Even though it is never analysed, the deformation path is ca ...
International Center for Numerical Methods in Engineering (CIMNE)2019
Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...
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 ...
Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires minimal craftsmanshi ...
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 ...
We present a new Autonomous Underwater Vehicle (AUV) system for cooperative environmental sensing. The AUV was specifically developed as a platform for distributed, cooperative sensing in lakes and coastal areas. In this paper we describe the prerequisite ...
Industrial robots are increasingly used in various
applications where the robot accuracy becomes very important,
hence calibrations of the robot's kinematic parameters and
the measurement system's extrinsic parameters are required.
However, the existing ca ...
The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly circumvented by us ...