Geometric Algebra for Optimal Control With Applications in Manipulation Tasks
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Bi-manual picking up of objects to toss them on a conveyor belt are dynamic manipulation activities generated daily in the industry. Such repetitive and physically demanding tasks are still done largely by humans for lack of similarly fast, precise, and ro ...
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 ...
Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...
The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...
It is a well-established fact in the field of Human-Robot Interaction that the personality a social robot is endowed with (i.e., the one it expresses by its gestures and words) plays a key role towards the engagement experienced by any person interacting w ...
Robots are employed to assist humans in lengthy, challenging, and repetitive tasks. However, the fields of rehabilitation, haptics, and assistive robotics have shown a significant need to support and interact with people in their everyday life. To facilita ...
Humans exhibit outstanding learning and adaptation capabilities while performing various types of manipulation tasks. When learning new skills, humans are able to extract important information by observing examples of a task and efficiently refine a priori ...
Small variance asymptotics is emerging as a useful technique for inference in large scale Bayesian non-parametric mixture models. This paper analyses the online learning of robot manipulation tasks with Bayesian non-parametric mixture models under small va ...
Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...
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 ...