Concept

Motion control

Publications associées (144)

Development of a precision machine to perform and study orthogonal micro-cutting

Kossi Agbeviade, Jacques Giovanola, Jennifer Gasparoux

This article presents a laboratory machine designed to perform orthogonal micro-cutting experiments. The machine allows an accurate control of the various cutting parameters and a direct comparison of micro-and macrocutting tool-material data bases. Resear ...

Springer Heidelberg2016

A sensorless method for measuring the point mobility of mechanical structures

Romain Boulandet, Philippe Herzog

This paper presents a convenient and cost-effective experimental tool for measuring the mobility characteristics of a mechanical structure. The objective is to demonstrate that the point mobility measurement can be performed using only an electrodynamic in ...

Elsevier2016

A Dynamical System Approach for Catching Softly a Flying Object: Theory and Experiment

Aude Billard, Mahdi Khoramshahi, Seyed Sina Mirrazavi Salehian

Catching a fast flying object is particularly challenging as consists of two tasks: it requires extremely precise estimation of the object’s motion and control of the robot motion. Any small imprecision may lead the fingers to close too abruptly and let th ...

Institute of Electrical and Electronics Engineers2016

Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robots

Felix Stephan Schill

Force feedback is a powerful sensory cue that can provide a user, remotely teleoperating a vertical takeoff and landing (VTOL) aerial robotic vehicle, with an enhanced perception of the robot motion and interaction with the local environment. The accepted ...

Ieee-Inst Electrical Electronics Engineers Inc2016

Stability Considerations for Variable Impedance Control

Aude Billard, Klas Jonas Alfred Kronander

Impedance control is a commonly used control architecture for robotic manipulation. For increased flexibility, the impedance can be programmed to vary during the task. This has important implications on the stability properties of the control system, which ...

Ieee-Inst Electrical Electronics Engineers Inc2016

Evaluating direct transcription and nonlinear optimization methods for robot motion planning

Jonas Buchli, Alexander Winkler

This paper studies existing direct transcription methods for trajectory optimization for robot motion planning. These methods have demonstrated to be favorable for planning dynamically feasible motions for high dimensional robots with complex dynamics. How ...

2015

Incremental motion learning with locally modulated dynamical systems

Aude Billard, Klas Jonas Alfred Kronander

Dynamical Systems (DS) for robot motion modeling are a promising approach for efficient robot learning and control. Our focus in this paper is on autonomous dynamical systems, which represent a motion plan without dependency on time. We develop a method th ...

Elsevier2015

Optimization of the force and power consumption of a microfabricated magnetic actuator

Herbert Shea, Juan José Zarate

The force (F) and the power consumption (P ) of a magnetic actuator are modeled, measured and optimized in the context of developing micro-actuators for large arrays, such as in portable tactile displays for the visually impaired. We present a novel analyt ...

Elsevier2015

Control and Learning of Compliant Manipulation Skills

Klas Jonas Alfred Kronander

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 ...

EPFL2015

A flexible multimodal tactile display for delivering shape and material information

Hannes Bleuler, Simon Gallo

The growing complexity of telemanipulation tasks calls for increased realism and intuitiveness of the interaction between the user and the master control. Humans perceive multiple haptic features of an object such as its stiffness, temperature, and shape, ...

Elsevier2015

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