Concept

Espace de configuration

Publications associées (27)

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Aude Billard, Kunpeng Yao, Xiao Gao, Farshad Khadivar

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

ELSEVIER2023

Implicit Distance Functions: Learning and Applications in Robotics

Mikhail Koptev

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

Energy dissipation in fiber-polymer composites adhesive joints under cyclic loading

Ghazaleh Eslami

Sustainable development has emerged as a paramount consideration in various fields of industry, including construction, to preserve the environment and its finite resources. Lightweight structures, such as fiber-polymer composite structures, address both s ...

EPFL2023

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

2022

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Sylvain Calinon, Emmanuel Pignat

Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although the robot configuration is defined by its joint angles, end-effector poses are oft ...

SAGE PUBLICATIONS LTD2021

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

High-order based revelation of bifurcation of novel Schatz-inspired metamorphic mechanisms using screw theory

Huijuan Feng

The revelation of mechanism bifurcation is essential in the design and analysis of reconfigurable mechanisms. The first- and second-order based methods have successfully revealed the bifurcation of mechanisms. However, they fail in the novel Schatz-inspire ...

PERGAMON-ELSEVIER SCIENCE LTD2020

Large-scale automated investigation of free-falling paper shapes via iterative physical experimentation

Josephine Anna Eleanor Hughes

Free-falling paper shapes exhibit rich, complex and varied behaviours that are extremely challenging to model analytically. Physical experimentation aids in system understanding, but is time-consuming, sensitive to initial conditions and reliant on subject ...

Nature Research2020

Bimanual Skill Learning with Pose and Joint Space Constraints

Sylvain Calinon

As humanoid robots become commonplace, learning and control algorithms must take into account the new challenges imposed by this morphology, if we aim to fully exploit their potential. One of the most prominent characteristics of such robots is their biman ...

2018

Geometry-aware Robot Manipulability Transfer

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

Humans naturally vary their body posture in order to quickly move or apply forces along specific directions. Such posture changes are strongly linked to the specific requirements of the task at hand, and therefore play a relevant role on task performance. ...

2018

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