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Reinforcement learning for scaffold-free construction of spanning-structures

Related publications (45)

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

2024

Learning to make mixed-integer robot motion planning easy

Tanguy Hector Lewko

Robot motion planning involves finding a feasible path for a robot to follow while satisfying a set of constraints and optimizing an objective function. This problem is critical for enabling robots to navigate and perform tasks in realworld environments. H ...

2023

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Aude Billard, Harshit Khurana

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

2023

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

Josephine Anna Eleanor Hughes, Kai Christian Junge, Antonia Georgopoulou Papadonikolaki

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

IEEE2023

Robots' Motion Planning in Human Crowds by Acceleration Obstacles

Aude Billard, Diego Felipe Paez Granados, David Julian Gonon

We study the Acceleration Obstacle (AO) as a concept to enable a robot's navigation in human crowds. The AO's geometric properties are analyzed and a direct sampling-free algorithm is proposed to approximate its boundary by linear constraints. The resultin ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Product of experts for robot learning from demonstration

Emmanuel Pignat

Adaptability and ease of programming are key features necessary for a wider spread of robotics in factories and everyday assistance. Learning from demonstration (LfD) is an approach to address this problem. It aims to develop algorithms and interfaces such ...

EPFL2021

An integrated design tool for timber plate structures to generate joints geometry, fabrication toolpath, and robot trajectories

Yves Weinand, Nicolas Henry Pierre Louis Rogeau, Pierre Latteur

This paper presents an integrated design tool for structures composed of engineered timber panels that are connected by traditional wood joints. Recent advances in computational architecture have permitted to automate the fabrication and assembly of such s ...

2021

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The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) ...

2020

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Layer-by-layer manufacturing of composite mechanisms allows fast and cost-effective fabrication of customized robots in millimeter and centimeter scales which is promising for research fields that rely on frequent and numerous physical iterations. Due to t ...

2020

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The recent burgeoning interest in massive multiobject spectroscopy has pushed the development of massive optical fiber positioning systems. These systems rely on precise fiber placement to detect the light spectra of many stars and galaxies. One successful ...

2020

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