Publications related to Probabilistic Adaptive Control for Robust Behavior Imitation

A geometric optimal control approach for imitation and generalization of manipulation skills

Sylvain Calinon, Amirreza Razmjoo Fard, Jie Zhao

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

ELSEVIER2023

Closed-loop technique based on gain balancing for real-time Brillouin optical time-domain analysis

Luc Thévenaz, Zhisheng Yang, Li Zhang, Ana Gabriela Correa Mena

A closed-loop servo control based on balancing the gain of two probing frequencies is proposed for real-time Brillouin optical time-domain analysis (BOTDA) without post-processing. With the most basic BOTDA hardware setup, the system can perform measuremen ...

2022

Breaking Silos to Guarantee Control Stability with Communication over Ethernet TSN

Amir Aminifar

Editor's notes: The cross-layer approach presented in this article involves co-designing a feedback controller's parameters together with the schedule of an Ethernet network used for communicating state information and control signals.-Samarjit Chakraborty ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Jamie Paik, Mustafa Mete

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Stabilization and Accuracy Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

Alireza Karimi, Seyed Sohail Madani

Power-Hardware-In-the-Loop (PHIL) setups have gained high importance in validation of the performance of newly developed algorithms and devices with low risk and implementation cost. However, the interconnection of a power hardware with a simulated model v ...

2021

3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation

Jamie Paik, Amir Firouzeh

This work demonstrates the first 3D printed wearable motor-sensory module prototype designed for facial rehabilitation, focusing on facial paralysis. The novelty of the work lies in the fast fabrication of the first fully soft working prototype, including ...

MARY ANN LIEBERT, INC2021

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Aude Billard, Rui Wu

In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and tran ...

2021

Bio-inspired standing balance controller for a full-mobilization exoskeleton

Mohamed Bouri, Jemina Fasola, Tristan Hubert Vouga, Romain Pierre François Baud

The invention concerns a method of performing automatic standing balance of a user in a full mobilization exoskeleton with at least a foot and using at least two actuated degrees of freedom, wherein a controller uses information provided from sensors to pr ...

2021

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Maryam Kamgarpour, Luca Furieri, Na Li

It is known that the set of internally stabilizing controller

\mathcal{C}_{\text{stab}}

is non-convex, but it admits convex characterizations using certain closed-loop maps: a classical result is the {Youla parameterization}, and two recent notions are t ...

2020

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

Auke Ijspeert, Anne Daniëlle Koelewijn

Humans control balance using different feedback loops involving the vestibular system, the visual system, and proprioception. In this article, we focus on proprioception and explore the contribution of reflexes based on force and length feedback to standin ...

FRONTIERS MEDIA SA2020

Probabilistic Adaptive Control for Robust Behavior Imitation

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A geometric optimal control approach for imitation and generalization of manipulation skills

Closed-loop technique based on gain balancing for real-time Brillouin optical time-domain analysis

Breaking Silos to Guarantee Control Stability with Communication over Ethernet TSN

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Stabilization and Accuracy Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Bio-inspired standing balance controller for a full-mobilization exoskeleton

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

A geometric optimal control approach for imitation and generalization of manipulation skills

Breaking Silos to Guarantee Control Stability with Communication over Ethernet TSN

Stabilization and Accuracy Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

Bio-inspired standing balance controller for a full-mobilization exoskeleton

Closed-loop technique based on gain balancing for real-time Brillouin optical time-domain analysis

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation