Memory of Motion for Initializing Optimization in Robotics
Graph Chatbot
Chat with Graph Search
Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.
DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.
Cable-operated manipulators, also termed cable robots, possess a number of unique properties which make them suitable for tasks involving high payloads, large workspaces, and interacting with dangerous materials. But the fact that cables can only pull the ...
Estimation based on received signal strength (RSS) is crucial in sensor networks for sensor localization, target tracking, etc. In this paper, we present a Gaussian approximation of the Chi distribution that is applicable to general RSS source localization ...
Trilateration is a technique for position estimation from range measurements which is often used in robot navigation. Most applications assume that there is no error associated with the landmarks used for trilateration. In cooperative navigation, in which ...
In the past, computational motor control has been approached from at least two major frameworks: the dynamic systems approach and the viewpoint of optimal control. The dynamic system approach emphasizes motor control as a process of self-organization betwe ...
The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working ...
Optimization arises naturally when process performance needs improvement. This is often the case in industry because of competition – the product has to be proposed at the lowest possible cost. From the point of view of control, optimization consists in de ...
The choice of a specific distribution for random parameters of discrete choice models is a critical issue in transportation analysis. Indeed, various pieces of research have demonstrated that an inappropriate choice of the distribution may lead to serious ...
In most applications related to transportation, it is of major importance to be able to identify the global optimum of the associated optimization problem. The work we present in this paper is motivated by the optimization problems arising in the maximum l ...
Robotics applied to rehabilitation requires specific manipulators: Powered Orthoses. They are orthopedic devices equipped with motors and captors that enable locomotor assistance. These powered orthoses must be capable of reproducing physiological articula ...
Model predictive control (MPC) is a very effective approach to control nonlinear systems, especially when the systems are high dimensional and/or constrained. MPC formulates the problem of input trajectory generation as an optimization problem. However, du ...