Publications related to Training Efficient Controllers via Analytic Policy Gradient

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Salman Faraji, Soha Pouya

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

A Model-Based Control Approach for Locomotion of Biped Robots

Salman Faraji

In this research we aim at proposing a general novel walking method for locomotion of torque controlled robots. The method should be able to produce a wide range of speeds without requiring oﬀ-line optimizations and re-tuning of parameters. It should be ca ...

2013

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Auke Ijspeert, Massimo Vespignani, Mostafa Ajallooeian, Alexandre Tuleu

We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...

2013

Synergy-level Grasp Synthesis Learning

Aude Billard, Sahar El Khoury, Miao Li

Autonomous grasping is a complex task for robots. It is a high dimensional problem since it involves controlling for the hand position, orientation and joint angles to successfully grasp an object. In order to reduce the control complexity, we adopt a 3-st ...

2013

Rigorous implementation of real-time systems – from theory to application

Joseph Sifakis

The correct and efficient implementation of general real-time applications remains very much an open problem. A key issue is meeting timing constraints whose satisfaction depends on features of the execution platform, in particular its speed. Existing rigo ...

2013

In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

Roland Siegwart, Samir Bouabdallah, Vincent de Perrot

The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is impor ...

Abcm Brazilian Soc Mechanical Sciences & Engineering2012

Robotic clusters: Multi-robot systems as computer clusters A topological map merging demonstration

Ali Marjovi, Sarvenaz Choobdar

In most multi-robot systems, an individual robot is not capable of solving computationally hard problems due to lack of high processing power. This paper introduces the novel concept of robotic clusters to empower these systems in their problem solving. A ...

Elsevier2012

Robotic system for spinal and other surgeries

Charles Baur, Szymon Kostrzewski, Pascal Bérard

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assist ...

2012

A Distributed Algorithm for Computing the Node Search Number in Trees

Florian Huc

We present a distributed algorithm to compute the node search number in trees. This algorithm extends the centralized algorithm proposed by Ellis et al. (Inf. Comput. 113(1):50-79, 1994). It can be executed in an asynchronous environment, requires an overa ...

2012

Model Predictive Control for Gust Load Alleviation

Timm Faulwasser, Michael Köpf

For economical and ecological reasons aircraft are required to become more efficient by reducing fuel consumption and CO

_2

emissions. One way to achieve these objectives is to decrease the weight of the aircraft structure. The reduction is, however, limi ...

2012

Training Efficient Controllers via Analytic Policy Gradient

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Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

A Model-Based Control Approach for Locomotion of Biped Robots

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Synergy-level Grasp Synthesis Learning

Rigorous implementation of real-time systems – from theory to application

In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

Robotic clusters: Multi-robot systems as computer clusters A topological map merging demonstration

Robotic system for spinal and other surgeries

A Distributed Algorithm for Computing the Node Search Number in Trees

Model Predictive Control for Gust Load Alleviation

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Robotic clusters: Multi-robot systems as computer clusters A topological map merging demonstration

A Distributed Algorithm for Computing the Node Search Number in Trees

Rigorous implementation of real-time systems – from theory to application

A Model-Based Control Approach for Locomotion of Biped Robots

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Synergy-level Grasp Synthesis Learning

In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

Robotic system for spinal and other surgeries

Model Predictive Control for Gust Load Alleviation