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Publications associées (34)

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

New York2023

Real-Time Dance Generation to Music for a Legged Robot

Marco Hutter

The development of robots that can dance has received considerable attention. However, they are often either limited to a pre-defined set of movements and music or demonstrate little variance when reacting to external stimuli, such as microphone or camera ...

2019

Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots

Laura Isabel Paez Coy, Marco Hutter, Klajd Lika

Adapting to the ground enables stable footholds in legged locomotion by exploiting the structure of the terrain. On that account, we present a passive adaptive planar foot with three rotational degrees of freedom that is lightweight and thus suited for hig ...

2019

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin

Stéphanie Lacour, Jamie Paik, Harshal Arun Sonar, Aaron Powers Gerratt

In this article, we achieve a closed-loop control over haptic feedback, first time for an entirely soft platform. We prototyped a novel self-sensing soft pneumatic actuator (SPA) with soft strain sensors, called SPA-skin, which withstands large multiaxial ...

2019

Computational Design of Deployable Auxetic Shells

Mark Pauly, Mina Konakovic Lukovic

We propose an interactive computational design method for deployable auxetic shells. We realize deployable auxetics as triangular linkages that can be actuated with simple expansive mechanisms to assume a desired freeform target shape. The core feature of ...

2018

Learning adaptive dressing assistance from human demonstration

Sylvain Calinon, Emmanuel Pignat

For tasks such as dressing assistance, robots should be able to adapt to different user morphologies, preferences and requirements. We propose a programming by demonstration method to efficiently learn and adapt such skills. Our method encodes sensory info ...

2017

Autonomous Learning of Internal Dynamic Models for Reaching Tasks

Auke Ijspeert, Tadej Petric

The paper addresses the problem of learning internal task-specific dynamic models for a reaching task. Using task-specific dynamic models is crucial for achieving both high tracking accuracy and compliant behaviour, which improves safety concerns while wor ...

Springer-Verlag Berlin2016

A modular approach to learning manipulation strategies from human demonstration

Aude Billard, Miao Li, Ravin Luis De Souza

Object manipulation is a challenging task for robotics, as the physics involved in object interaction is complex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly w ...

Springer Verlag2016

A Modular Approach to Learning Manipulation Strategies from Human Demonstration

Aude Billard, Miao Li, Ravin Luis De Souza

Object manipulation is a challenging task for robotics, as the physics involved in object interaction is com- plex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly ...

Springer Verlag2015

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