Concept

Robot kinematics

Publications associées (235)

Product of experts for robot learning from demonstration

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

Impaired reach-to-grasp kinematics in parkinsonian patients relates to dopamine-dependent, subthalamic beta bursts

Silvestro Micera, Matteo Vissani

Excessive beta-band oscillations in the subthalamic nucleus are key neural features of Parkinson's disease. Yet the distinctive contributions of beta low and high bands, their dependency on striatal dopamine, and their correlates with movement kinematics a ...

NATURE RESEARCH2021

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Yufei Hao

Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

FRONTIERS MEDIA SA2021

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This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators

Aude Billard, Sthithpragya Gupta, Walid Amanhoud, Farshad Khadivar

The inverse dynamics of a robotic manipulator is instrumental in precise robot control and manipulation. However, acquiring such a model is challenging, not only due to unmodelled non-linearities such as joint friction, but also from a machine learning per ...

IEEE2021

While reconfigurable robots provide a new promising approach for interactive systems, the complexity of distributed actuation/sensing systems, coupled kinematics and desired functionalities also bring new challenges and questions both in control design and ...

EPFL2021

LiftPose3D, a deep learning-based approach for transforming two-dimensional to three-dimensional poses in laboratory animals

Pascal Fua, Pavan P Ramdya, Adám Gosztolai, Victor Lobato Rios, Helge Jochen Rhodin, Semih Günel, Daniel Eduardo Morales Garza, Marco Pietro Abrate

LiftPose3D infers three-dimensional poses from two-dimensional data or from limited three-dimensional data. The approach is illustrated for videos of behaving Drosophila, mice, rats and macaques. Markerless three-dimensional (3D) pose estimation has become ...

NATURE PORTFOLIO2021

This paper considers the problem of multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi- ...

2021

Postural transitions detection and characterization in healthy and patient populations using a single waist sensor

Kamiar Aminian, Farzin Dadashi, Benoît Mariani, Arash Atrsaei

Background: Sit-to-stand and stand-to-sit transitions are frequent daily functional tasks indicative of muscle power and balance performance. Monitoring these postural transitions with inertial sensors provides an objective tool to assess mobility in both ...

2020

Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of ...

2020

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