Concept
Cinématique inverse
Publications associées (287)
Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator
Simon Nessim Henein, Loïc Benoît Tissot-Daguette
The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...
2024Near-Zero Parasitic Shift Flexure Pivots Based on Coupled n-RRR Planar Parallel Mechanisms
Simon Nessim Henein, Florent Cosandier, Loïc Benoît Tissot-Daguette, Etienne Frédéric Gabriel Thalmann
Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radi ...
2024An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks
Humans use tools to complete impact-aware tasks, such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding a tool plays a ...
Ieee-Inst Electrical Electronics Engineers Inc2024Towards edible robots and robotic food
Dario Floreano, Bokeon Kwak, Markéta Pankhurst, Jun Shintake
Edible robots and robotic food — edible systems that perceive, process and act upon stimulation — could open a new range of opportunities in health care, environmental management and the promotion of healthier eating habits. For example, they could enable ...
2024Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients
Silvestro Micera, Matteo Vissani, Michael Lassi
ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...
Turin2023Implicit Distance Functions: Learning and Applications in Robotics
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 ...
EPFL2023Exploration-based model learning with self-attention for risk-sensitive robot control
Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...
2023Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot
Auke Ijspeert, Karen Ann J Mulleners, Kamilo Andres Melo Becerra, Alexandros Anastasiadis, Laura Isabel Paez Coy, Eric Daniel Tytell
Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...
2023Zero Parasitic Shift Pivoting Kinematic Structures Based On Coupled N-RRR Planar Parallel Mechanims For Flexure Pivot Design
Simon Nessim Henein, Florent Cosandier, Loïc Benoît Tissot-Daguette, Etienne Frédéric Gabriel Thalmann
Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radi ...
ASME2023Online 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 ...
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