Interactive identification of the center of mass reachable space for an articulated manipulator
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Humans demonstrate an impressive capability to manipulate fragile objects without damaging them, graciously controlling the force and position of hands or tools. Traditionally, robotics has favored position control over force control to produce fast, accur ...
Robotic animals are nowadays developed for various types of research, such as bio-inspired robotics, biomimetics and animal behavior studies. The miniaturization of technologies and the increase in performance of embedded systems allowed engineers to devel ...
This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...
This overview presents computational algorithms for generating 3D object grasps with autonomous multi-fingered robotic hands. Robotic grasping has been an active research subject for decades, and a great deal of effort has been spent on grasp synthesis alg ...
The human hand is an amazing tool, demonstrated by its incredible motor capability and remarkable sense of touch. To enable robots to work in a human-centric environment, it is desirable to endow robotic hands with human-like capabilities for grasping and ...
We present a generic framework that allows learning non- linear dynamics of motion in manipulation tasks and generating dynamical laws for control of position and orientation. This work follows a recent trend in Programming by Demonstration in which the dy ...
We consider from a practical perspective the problem of checking equivalence of context-free grammars. We present techniques for proving equivalence, as well as techniques for finding counter-examples that establish non-equivalence. Among the key building ...
In recent years nanotechnology has become an enabling technology for the development and fabrication of new innovative products. The growth of micro- and nano-manufacturing lies in the ability of converting micro- and nano-fabrication techniques into mass- ...
We consider the problem of learning robust models of robot motion through demonstration. An approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) is proposed to extract redundancies across multiple demonstrations, and build a ti ...
We consider from a practical perspective the problem of checking equivalence of context-free grammars. We present techniques for proving equivalence, as well as techniques for finding counter-examples that establish non-equivalence. Among the key building ...