Learning and optimization of anticipatory feedback controllers for robot manipulation
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With the exponential growth of robotics and the fast development of their advanced cognitive and motor capabilities, one can start to envision humans and robots jointly working together in unstructured environments. Yet, for that to be possible, robots nee ...
The target assignment methods applied to robotic fiber positioners are only applicable to homogeneous sets of targets to be observed. However, different batches of robotic fiber positioners available at the focal plane of a telescope can be simultaneously ...
This project is carried out under the partnership between LMTS and LAI to develop an autonomous micro-robot called DE-Ansect. This low power micro-robot moves thanks to dielectric elastomere actuators. For now the robot follows a black line on the ground. ...
The design of doubly-curved systems called for innovative modelling techniques to evaluate the final geometry of the structure. They can simulate the behaviour of beams under large displacements. Even though it is never analysed, the deformation path is ca ...
International Center for Numerical Methods in Engineering (CIMNE)2019
Several approaches have been proposed to assist humans in co-manipulation and teleoperation tasks given demonstrated trajectories. However, these approaches are not applicable when the demonstrations are suboptimal or when the generalization capabilities o ...
Using renewable resources: Sustainable timber construction aims to develop optimized design solutions through including the recent advancements in digital fabrication, robotic assembly, material science, and structural mechanics. Toward this end, IBOIS at ...
Data-driven modeling and feedback control play a vital role in several application areas ranging from robotics, control theory, manufacturing to management of assets, financial portfolios and supply chains. Many such problems in one way or another are rela ...
Quasi-static piezoelectric actuators are used in micro-robotics due to the small displacements they can achieve, and they have been proven to be suitable for Self-Sensing Actuation (SSA) applications. The morphology and material of an actuator, and therefo ...
Quasi-static piezoelectric actuators are used in micro-robotics due to the small displacements they can achieve, and they have been proved suitable for Self-Sensing Actuation (SSA) applications. The fabrication parameters of an actuator (i.e. morphology, s ...
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 ...