Concept

Planification de mouvement

Publications associées (245)

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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

Dynamic Grasp Adaptation

Miao Li

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 ...

EPFL2016

Requirements for building an ontology for autonomous robots

Kamilo Andres Melo Becerra, Howard Li

Purpose - IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the ...

Emerald Group Publishing Ltd2016

Grasping for the Task

Ravin Luis De Souza

The significant advances made in the design and construction of anthropomorphic robot hands, endow them with prehensile abilities reaching that of humans. However, using these powerful hands with the same level of expertise that humans display is a big cha ...

EPFL2016

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

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

Geometry of non-holonomic diffusion

Tudor Ratiu, Simon Hochgerner

We study stochastically perturbed non-holonomic systems from a geometric point of view. In this setting, it turns out that the probabilistic properties of the perturbed system are intimately linked to the geometry of the constraint distribution. For G-Chap ...

European Mathematical Soc2015

Soft piezoresistive sensor model and characterization with varying design parameters

Jamie Paik, Amir Firouzeh, Antoine Foba Amon Junior

Recent robots target safety, reconfigurability and interactivity by addressing the “softness” of the hardware either by endowing additional degrees-of-freedom or through inherent compliancy. These robots require distributed sensing with flexibility and sof ...

2015

Decentralized multi-robot coordination in crowded workspaces

Laleh Makarem

The coordination of multi-robot systems is becoming one of the most important areas of research in robotics, mostly because it is required by numerous complex applications. These applications range from intelligent transportation systems, search and rescue ...

EPFL2015

Autonomous Construction of Separated Artifacts by Mobile Robots Using SLAM and Stigmergy

Francesco Mondada, Hadi Ardiny, Stefan John Witwicki

Autonomous mobile robots equipped with arms have the potential to be used for automated construction of structures in various sizes and shapes, such as houses or other infrastructures. Existing construction processes, like many other additive manufacturing ...

2015