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Publications associées (27)

Learning Manipulability Ellipsoids for Task Compatibility in Robot Manipulation

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

Posture body variation is one of the ways in which humans skillfully and naturally augment their motion and strength capabilities along specific task-space directions in order to successfully perform complex manipulation skills. Posture variation also has ...

2017

On the statistical physics of chains and rods, with application to multi-scale sequence-dependent DNA modelling

Alexandre Emmanuel Grandchamp

The complex mechanisms involved in cellular processes have been increasingly understood this past century and the central role of the DNA molecule has been recognized. The base pair sequence along a DNA fragment is observed not only to encode the genomic i ...

EPFL2016

Continuous monitoring of bedload transport in a laboratory flume using an impact sensor

Christophe Ancey, Blaise Etienne Marceau Dhont, Gauthier Paul Daniel Marie Rousseau

Bedload transport rate in gravel-bed rivers shows large non-Gaussian fluctuations, even under steady flow conditions. The development of high-resolution measurement techniques during the last two decades creates research opportunities to study the intermit ...

American Society of Civil Engineers2016

Actuator With Angle-Dependent Elasticity for Biomimetic Transfemoral Prostheses

Serge Pfeifer

Despite tremendous improvements in recent years, lower-limb prostheses are still inferior to their biological counterparts. Most powered knee joints use impedance control, but it is unknown which impedance profiles are needed to replicate physiological beh ...

2015

Statistical Analysis of Ion Mobility Spectrometry. II. Adaptively Biased Methods and Shape Correlations

Yury Tsybin

Following a recent effort [J. Am. Soc. Mass Spectrom. 23, 386-396 (2012)], we continue to explore computational methodologies for generating molecular conformations to support collisional cross sections suggested by ion mobility measurements. Here, adaptiv ...

2012

Gauge Transformations, Twisted Poisson Brackets and Hamiltonization of Nonholonomic Systems

In this paper we study the problem of Hamiltonization of nonholonomic systems from a geometric point of view. We use gauge transformations by 2-forms (in the sense of evera and Weinstein in Progr Theoret Phys Suppl 144:145 154 2001) to construct different ...

Springer Verlag2012

Ambient space formulations and statistical mechanics of holonomically constrained Langevin systems

John Maddocks

The most classic approach to the dynamics of an n-dimensional mechanical system constrained by d independent holonomic constraints is to pick explicitly a new set of (n - d) curvilinear coordinatesparametrizingthe manifold of configurations satisfying the ...

Springer-Verlag2011

Motion autonomy for humanoids: experiments on HRP-2 No. 14

This paper deals with whole-body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a ...

2009

Segregation in swarms of mobile robots based on the Brazil nut effect

Francesco Mondada, Stéphane Magnenat, Roderich Gross

We study a simple algorithm inspired by the Brazil nut effect for achieving segregation in a swarm of mobile robots. The algorithm lets each robot mimic a particle of a certain size and broadcast this information locally. The motion of each particle is con ...

IEEE Computer Society Press2009

On Achieving Periodic Joint-Motion for Redundant Robots

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working ...

2008

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