Publications associées à Contre-réaction

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

This paper studies a class of partially observed Linear Quadratic Gaussian (LQG) problems with unknown dynamics. We establish an end-to-end sample complexity bound on learning a robust LQG controller for open-loop stable plants. This is achieved using a ro ...

PMLR2021

Developments on actuator management, plasma state reconstruction, and control on ASDEX Upgrade

Olivier Sauter, Federico Alberto Alfredo Felici, Mengdi Kong, Simon Van Mulders, Bernhard Sieglin

In present day tokamaks, the role of the control research is to support the physics experiments and to prepare technologies for future devices such as ITER and DEMO. This paper presents the developments done under the MST1 program collaboration on ASDEX Up ...

ELSEVIER SCIENCE SA2021

Real-time feedback control system for ADITYA-U horizontal plasma position stabilisation

Harshita Raj, Rohit Kumar, Shivam Gupta

The ADITYA-U tokamak (R-0 = 0.75 m, a = 0.25 m) is designed to shape plasma column in both single and double null diverter configurations. It is quite well known that sustaining a shaped plasma in tokamak requires very good plasma column position control, ...

2021

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Jamie Paik, Mustafa Mete

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Whole Body Model Predictive Control with a Memory of Motion:Experiments on a Torque-Controlled Talos

Sylvain Calinon, Teguh Santoso Lembono, Rohan Budhiraja

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

A unified framework for walking and running of bipedal robots

Ludovic Righetti, Elham Daneshmand

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

IEEE2021

Virtual Landmark-Based Control of Docking Support for Assistive Mobility Devices

Diego Felipe Paez Granados, Chen Yang

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We defined a virtua ...

2021

Sparse non-negative super-resolution - simplified and stabilised

Armin Eftekhari, Hemant Tyagi

We consider the problem of non-negative super-resolution, which concerns reconstructing a non-negative signal x = Sigma(k )(i=1)a(i)delta(ti) from m samples of its convolution with a window function phi(s - t), of the form y(s(j)) = Sigma(k)(i=1) a(i) phi( ...

ACADEMIC PRESS INC ELSEVIER SCIENCE2021

Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback

Jamie Paik, Sagar Dattatray Joshi, Frédéric Henri Vaskin Giraud

Wearable fingertip haptic devices aim to deliver somatosensory feedback for applications such as virtual reality, rehabilitation, and enhancing hardware/physical control interfaces. However, providing various kinds of feedback requires several Degrees of F ...

2021

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Contre-réaction

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

Developments on actuator management, plasma state reconstruction, and control on ASDEX Upgrade

Real-time feedback control system for ADITYA-U horizontal plasma position stabilisation

Pan-Arctic seasonal cycles and long-term trends of aerosol properties from ten observatories

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Whole Body Model Predictive Control with a Memory of Motion:Experiments on a Torque-Controlled Talos

A unified framework for walking and running of bipedal robots

Virtual Landmark-Based Control of Docking Support for Assistive Mobility Devices

Sparse non-negative super-resolution - simplified and stabilised

Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback

Graph Chatbot

Chattez avec Graph Search

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

A unified framework for walking and running of bipedal robots

Pan-Arctic seasonal cycles and long-term trends of aerosol properties from ten observatories

Real-time feedback control system for ADITYA-U horizontal plasma position stabilisation

Whole Body Model Predictive Control with a Memory of Motion:Experiments on a Torque-Controlled Talos

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

Virtual Landmark-Based Control of Docking Support for Assistive Mobility Devices

Sparse non-negative super-resolution - simplified and stabilised

Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback

Developments on actuator management, plasma state reconstruction, and control on ASDEX Upgrade