Publications related to Learning Task-Space Synergies using Riemannian Geometry

Control of the Toycopter using a Flat Approximation

Dominique Bonvin, Philippe Müllhaupt, Jean Lévine

This paper considers a helicopter-like setup called the Toycopter. Its particularities reside first in the fact that the toycopter motion is constrained to remain on a sphere and second in the use of a variable rotational speed of the propellers to vary th ...

2008

Optimal control of geodesics in Riemannian manifolds

Roland Rozsnyo

The aim of this dissertation is to solve numerically the following problem, denoted by P : given a Riemannian manifold and two points a and b belonging to that manifold, find a tangent vector T at a, such that expa(T) = b, assuming that T exists. This prob ...

EPFL2007

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...

2007

Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli, James Pugh

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using unsupervised learning techniques which allow robots to evolve their own controllers in an automated fashion. In multi-robot ...

2007

Laplacian Operator, Diffusion Flow and Active Contour on non-Euclidean Images

Jean-Philippe Thiran, Pierre Vandergheynst, Xavier Bresson, Iva Bogdanova Vandergheynst

We propose here some basic approaches to direct processing of the

360^o

-images as we take into consideration the geometry of each one. Obviously, the geometry of each of these images is a consequence of the geometry of the sensor's mirror used. This tech ...

2005

Optimal control of geodesics in Riemannian manifolds

Klaus-Dieter Semmler, Roland Rozsnyo

Summary: We present a method based on an optimal control technique for numerical computations of geodesic paths between two fixed points of a Riemannian manifold under the assumption of existence. In this method, the control variable is the tangent vector ...

2004

Learning Task-Space Synergies using Riemannian Geometry

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Control of the Toycopter using a Flat Approximation

Optimal control of geodesics in Riemannian manifolds

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Parallel Learning in Heterogeneous Multi-Robot Swarms

Laplacian Operator, Diffusion Flow and Active Contour on non-Euclidean Images

Optimal control of geodesics in Riemannian manifolds

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Optimal control of geodesics in Riemannian manifolds

Parallel Learning in Heterogeneous Multi-Robot Swarms

Control of the Toycopter using a Flat Approximation

Optimal control of geodesics in Riemannian manifolds

Laplacian Operator, Diffusion Flow and Active Contour on non-Euclidean Images