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Time-projection control to recover inter-sample disturbances, application to bipedal walking control

Related publications (39)

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3LP: a linear 3D-walking model including torso and swing dynamics

Auke Ijspeert, Salman Faraji

In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has dif ...

Sage Publications Ltd2017

A new time-projecting controller based on 3LP model to recover intermittent pushes

Auke Ijspeert, Salman Faraji

In this paper, we present a new walking controller based on 3LP model. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller can project the state of the robot at any time during the phase back to a certain event fo ...

2016

Moment-sum-of-squares hierarchies for set approximation and optimal control

Milan Korda

This thesis uses the idea of lifting (or embedding) a nonlinear controlled dynamical system into an infinite-dimensional space of measures where this system is equivalently described by a linear equation. This equation and problems involving it are subsequ ...

EPFL2016

Stochastic learning and control in multiple coordinate systems

Sylvain Calinon

A probabilistic interpretation of model predictive control is presented, enabling extensions to multiple coordinate systems. The resulting controller follows a minimal intervention principle, by learning and retrieving movements through the coordination of ...

2016

Continuous-time Model Predictive Control for Economic Optimization

Andrea Alessandretti

This thesis addresses the design of optimization-based control laws for the case where convergence to a desired set-point, minimization of an arbitrary performance index, or a combination of the two, is the desired objective. The results are developed with ...

EPFL2016

Proximity Operators for Phase Retrieval

Michaël Unser, Frédéric Courbin, Ferréol Arnaud Marie Soulez

We present a new formulation of a family of proximity operators that generalize the projector step for phase retrieval. These proximity operators for noisy intensity measurements can replace the classical "noise-free" projection in any projection-based alg ...

OSA2016

Complex pattern projection through a multimode fiber

Demetri Psaltis, Christophe Moser, Damien Claude-Marie Loterie, Salma Farahi

Wavefront shaping through multimode fibers has many interesting applications, such as micromanipulation and endoscopy, where the small diameter of fibers is an advantage in terms of miniaturization. However, pattern projection can suffer from deleterious i ...

Spie-Int Soc Optical Engineering2015

Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC

Dominique Bonvin, Colin Neil Jones, Timm Faulwasser, Milan Korda

We investigate the turnpike and dissipativity properties of continuous-time optimal control problems. These properties play a key role in the analysis and design of schemes for dynamic real-time optimization and economic model predictive control. We show i ...

2014

Multi-Parametric Toolbox 3.0

Colin Neil Jones

The Multi-Parametric Toolbox is a col- lection of algorithms for modeling, control, analysis, and deployment of constrained optimal controllers developed under Matlab. It features a powerful ge- ometric library that extends the application of the toolbox b ...

2013

Finite Dimensional Methods for Differential Flatness

Basile Graf

In Control System Theory, the study of continuous-time, finite dimensional, underdetermined systems of ordinary differential equations is an important topic. Classification of systems in different categories is a natural initial step to the analysis of a g ...

EPFL2013