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Adaptive Task-Space Force Control for Humanoid-to-Human Assistance
Related publications (37)
Learning from demonstration using products of experts: Applications to manipulation and task prioritization
Sylvain Calinon, Emmanuel Pignat
Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although the robot configuration is defined by its joint angles, end-effector poses are oft ...
SAGE PUBLICATIONS LTD2021Accurate equilibrium-based interlaminar stress recovery for isogeometric laminated composite Kirchhoff plates
Pablo Antolin Sanchez, Alessandro Reali
Despite the accelerated deployment of laminated composites in a wide variety of markets due to their peculiar engineering features, the design of those materials is often restrained by the lack of cost-efficient modeling techniques. In fact, the existing s ...
ELSEVIER SCI LTD2021Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
Sylvain Calinon, Teguh Santoso Lembono
In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consisten ...
2020Human-Human, Human-Robot and Robot-Robot Interaction While Walking: Data Analysis, Modelling and Control
In everyday life humans perform many tasks with other partners which involve coordination, involuntary communication and mutual control adaptation, as the case of carrying objects together with another person. Humanoid robots may help with such activities ...
EPFL2019Scalable closed-form trajectories for periodic and non-periodic human-like walking
We present a new framework to generate humanlike lower-limb trajectories in periodic and non-periodic walking. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to simulate falling, swing, and torso ba ...
IEEE2019Scalable closed-form trajectories for periodic and non-periodic human-like walking
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to simulate falling, swing, and torso b ...
2019Towards Robust Bipedal Locomotion
Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...
EPFL2018Modeling robot geometries like molecules, application to fast multi-contact posture planning for humanoids
Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not th ...
Ieee-Inst Electrical Electronics Engineers Inc2018Scalable closed-form trajectories for periodic and non-periodic human-like walking
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model falling, swing and ...
2018A singularity-tolerant inverse kinematics including joint position and velocity limitations
Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...
2017