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In the context of learning from demonstration (LfD), trajectory policy representations such as probabilistic movement primitives (ProMPs) allow for rich modeling of demonstrated skills. To reproduce a learned skill with a real robot, a feedback controller ...
In this paper, we present the design, control, and preliminary evaluation of the Symbitron exoskeleton, a lower limb modular exoskeleton developed for people with a spinal cord injury. The mechanical and electrical configuration and the controller can be p ...
We propose a multi-hop control scheme (MHCS) that aims to route traffic through a set of designated intermediate checkpoints (ICs). Because travelers are allowed to freely choose routes for each “hop” that connects real (origin and destination) and ICs, MH ...
We present an alternative implementation of the Kalman filter employed for track fitting within the LHCb experiment. It uses simple parametrizations for the extrapolation of particle trajectories in the field of the LHCb dipole magnet and for the effects o ...
The dc transformers based on an LLC converter operated in open loop near resonant frequency have several crucial advantages compared to other topologies. These advantages are the stiff voltage ratio with a natural power flow, the dc grid isolation via medi ...
The paper contributes to improving the computational performance of controls of distributed energy resources (DERs) in distribution grids for efficient real-time control and short-term scheduling. The considered setting is a distribution grid with heteroge ...
In diffusion social learning over weakly-connected graphs, it has been shown recently that influential agents shape the beliefs of non-influential agents. This paper analyzes this mechanism more closely and addresses two main questions. First, the article ...
The structure of the human musculo-skeletal systems shows complex passive dynamic properties, critical for adaptive grasping and motions. Through wrist and arm actuation, these passive dynamic properties can be exploited to achieve nuanced and diverse envi ...
Robotic systems are becoming more and more pervasive in modern industrial, scientific and personal activities through recent years and will play a fundamental role in the future society. Despite their increasing level of automation, teleoperation is still ...
Load-bearing tissues such as articular cartilage or meniscus are not infallible. They might fail due to trauma, over-solicitations, or diseases, which could subsequently alter the mobility of the patient. Repairing these damaged tissues in a minimally inva ...