Nouveaux concepts de locomotion pour véhicules tout-terrain robotisés
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.
In the high-precision industry, most operations require the use of robots able to accomplish highly accurate and repeatable motions. In order to meet the desired level of absolute accuracy, one has to limit or even suppress the effects of different sources ...
A piezoelectric elastic fin micromotor based on a PbZr0.53Ti0.47O3 thin film driving a micromachined silicon membrane was fabricated and studied. The stator was characterized by interferometry, and a laser set-up was used to measure the angular velocity an ...
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 ...
Task specific mechanism design for spatial linkages has remained a challenge. In this paper we present a kinematic design methodology, which combines the formalism of the Lie Group method with the effectiveness of creativity techniques from ’integrated pro ...
Robot Programming by Demonstration (PbD) aims at developing adaptive and robust controllers to enable the robot to learn new skills by observing and imitating a human demonstration. While the vast majority of PbD works focused on systems that learn a speci ...
Robotic ground vehicles are systems that use gravity and contact forces with the ground to perform motion. In this paper we will focus on n-wheeled vehicles able to perform motion with all the wheels maintaining contact at the same time. The main goal of t ...
This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The ...
In robotics we depend on software tools during design, modeling, programming and testing. These tools are essentials, often indispensable aids for developing and operating sophisticated robotic systems. At the same time, these tools are complex and usually ...
An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances ...
This paper presents a method for wheel-ground contact angle measurement and a traction control strategy minimizing slip in rough terrain. The slip minimization algorithm has been tested and compared with a standard speed control in simulation, which allows ...
