Improving the accuracy of the 5-axis parallel kinematics machine-tool Hita-STT (Stiffness Tracking Technology)
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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 ...
We present a new method for solving the motion retargeting problem, by using an intermediate skeleton. This allows us to convert movements between hierarchically and geometrically different characters. An inverse kinematics engine is then used to enforce C ...
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 ...
The choice of the drive composition is an obligatory stage in designing a product including electric drives. The large variety of the elements composing the electric drive (electronics, driving and kinematic chain) leads to a quasi-unlimited number of poss ...
The context of this thesis is the interactive manipulation of complex articulated figures by means of geometric constraints (here called tasks), for the purpose of posture control and design. The goal is to determine a posture satisfying a set of prescribe ...
The phenomenon of nano-indentation into a thin film bonded to a rigid substrate is simulated using a recently developed technique whereby a fully atomistic region is coupled to a continuum region. There are three unique features of the model, as compared t ...
In virtual human modeling, the shoulder is usually composed of clavicular, scapular and arm segments related by rotational joints. Although the model is improved, the realistic animation of the shoulder is hardly achieved. This is due to the fact that it i ...
We present a posture design paradigm for the positioning of complex characters. It is illustrated here on human figures. We exploit the inverse kinetics technique which allows the center of mass position control for postures with either single or multiple ...
In this paper, we present a new method for solving the Motion Retargeting Problem, by using an intermediate skeleton. This allows us to convert movements between hierarchically and geometrically different characters. An Inverse Kinematics engine is then us ...
Presents an integration framework for heterogeneous motion generators. The objective is to outline issues that are currently easily solved in the professional post-processing systems used in film and game production but which cannot be transposed “as ...