Steerable Locomotion Controller for Six-strut Icosahedral Tensegrity Robots
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Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...
Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...
Nature has developed methods for controlling the movements of organisms with many degrees of freedom which differ strongly from existing approaches for balance control in humanoid robots: Biological organisms employ kinematic synergies that simultaneously ...
A mobile microrobot is defined as a robot with a size ranging from 1 in3 down to 100 µm3 and a motion range of at least several times the robot's length. Mobile microrobots have a great potential for a wide range of mid-term and long-term applications such ...
In this contribution we present a CPG (central pattern generator) controller based on coupled Rössler systems. It is able to generate both limit cycle and chaotic behaviors through bifurcation. We develop an experimental test bench to measure quantitativel ...
Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. Such robots find their application in scientific exploration of hostile environments like deserts ...
A simple phys. picture which correctly predicts the flip angle effect in Fourier transform spectroscopy discussed by R. R. Ernst et al. (1974) is presented. The approach is based on populations alone and does not require knowledge of the d. matrix formalis ...
Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our needs. This is the long term vision we have in the Roombots project. To work towards this dream, we ar ...