Concept

Trajectoire

Publications associées (32)

Trajectory Optimization for Legged Robots With Slipping Motions

The dynamics of legged systems are characterized by under-actuation, instability, and contact state switching. We present a trajectory optimization method for generating physically consistent motions under these conditions. By integrating a custom solver f ...

2019

Meta-concrete by means of discrete element method

Sacha Zenon Wattel

The basis of the discrete element method is to model masses interacting with each other through different forces and constraints. On each mass, the second law of Newton is applied to obtain a differential equation. From this equation and boundary condition ...

2019

Controlling transport dynamics of confined asymmetric fibers

François Gallaire, Mathias Simon Daniel Bechert, Jean Cappello

Transport properties of particles in confining geometries show very specific characteristics as lateral drift, oscillatory movement between lateral walls or the deformation of flexible fibers. These dynamics result from viscous friction with transversal an ...

IOP PUBLISHING LTD2019

Learning Trajectory Distributions for Assisted Teleoperation and Path Planning

Several approaches have been proposed to assist humans in co-manipulation and teleoperation tasks given demonstrated trajectories. However, these approaches are not applicable when the demonstrations are suboptimal or when the generalization capabilities o ...

2019

Model-Based Occupant Tracking Using Slab-Vibration Measurements

Ian Smith, Yves Sylvain Gilles Reuland, Sai Ganesh Sarvotham Pai, Slah Drira

Sensor-based occupant tracking has the potential to enhance knowledge of the utilization of buildings. Occupancy-tracking strategies using footstep-induced floor vibrations may be beneficial for thermal-load prediction, security enhancement, and care-givin ...

2019

Learning Trajectory Dependencies for Human Motion Prediction

Mathieu Salzmann, Hongwei Li, Wei Mao

Human motion prediction, i.e., forecasting future body poses given observed pose sequence, has typically been tackled with recurrent neural networks (RNNs). However, as evidenced by prior work, the resulted RNN models suffer from prediction errors accumula ...

IEEE2019

Steerable Locomotion Controller for Six-strut Icosahedral Tensegrity Robots

Chiara Ercolani, Massimo Vespignani

This paper proposes a novel steerable locomotion controller for six-strut tensegrity robots. Tensegrity robots are lightweight and have many promising features such as robustness, shape-shifting capabilities, and deployability, making them good candidates ...

2018

Enhancing the dispatchability of distribution networks through utility-scale batteries and flexible demand

Mario Paolone, Colin Neil Jones, Fabrizio Sossan, Emil Namor, Tomasz Tadeusz Gorecki, Luca Fabietti

In this paper, the problem of dispatching the operation of a distribution feeder comprising a set of heterogeneous resources is investigated. The main objective is to track a power trajectory, called the dispatch plan, which is computed the day before the ...

2018

Coordinated Optimization and Control for Smart Grids

Altug Bitlislioglu

In this thesis, we consider commercial buildings with available heating, ventilation and air conditioning (HVAC) systems, and develop methods to assess and exploit their energy storage and production potential to collectively offer ancillary services to th ...

EPFL2018

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