Publication

Movement generation using dynamical systems: a humanoid robot performing a drumming task

Publications associées (48)

Experimental study from linear to chaotic regimes on a terahertz-frequency gyrotron oscillator

Stefano Alberti, Minh Quang Tran, Jean-Philippe Ansermet, Jean-Philippe Hogge, Damien Fasel, Jérémie Dubray, Philippe Cuanillon, Alessandro Macor, Miguel Da Silva

Basic wave-particle interaction dynamics from linear to chaotic regimes is experimentally studied on a frequency tunable gyrotron generating THz radiation in continuous mode (200W) at 263GHz which will be used for dynamic nuclear polarization nuclear magne ...

American Institute of Physics2012

Towards simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat, Sébastien Gay

Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements re ...

Springer Verlag2011

Unstable periodic orbits in the Lorenz attractor

We apply a new method for the determination of periodic orbits of general dynamical systems to the Lorenz equations. The accuracy of the expectation values obtained using this approach is shown to be much larger and have better convergence properties than ...

2011

Learning Nonlinear Multivariate Dynamics of Motion in Robotic Manipulators [accepted]

Aude Billard, Seyed Mohammad Khansari Zadeh, Elena Gribovskaya

Motion imitation requires reproduction of a dynamical signature of a movement, i.e. a robot should be able to encode and reproduce a particular path together with a specific velocity and/or an acceleration profile. Furthermore, a human provides only few de ...

SAGE Publications2011

Networks of Self-Adaptive Dynamical Systems

Julio Rodriguez

The present work belongs to the vast body of research devoted to behaviors that emerge when homogeneous or heterogeneous agents interact. We adopt a stylized point of view in which the individual agents' activities can be assimilated into nonlinear dynamic ...

EPFL2011

CPG-based prostheses control

Marc Louis

In this thesis we describe a strategy to control robotic knees and ankles. A dynamical system is used to generate a position trajectory to control a servo motor replacing the missing joint. The dynamical system consists in a pool of coupled oscillators mod ...

2010

Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a method to learn arbitrary discrete motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) dynamical system, and define the sufficient conditions to make such a system globally asymptoti ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Learning and reproduction of gestures by imitation: An approach based on Hidden Markov Model and Gaussian Mixture Regression

Aude Billard, Sylvain Calinon, Eric Sauser, Florent D'Halluin

We present a probabilistic approach to learn robust models of human motion through imitation. The association of Hidden Markov Model (HMM), Gaussian Mixture Regression (GMR) and dynamical systems allows us to extract redundancies across multiple demonstrat ...

Institute of Electrical and Electronics Engineers2010

Bouncing between model and data: stability, passivity, and optimality in hybrid dynamics

Renaud Ronsse

Rhythmically bouncing a ball with a racket is a seemingly simple task, but it poses all the challenges critical for coordinative behavior: perceiving the ball’s trajectory to adapt position and velocity of the racket for the next ball contact. To gain insi ...

Heldref Publications2010

On-line learning and modulation of periodic movements with nonlinear dynamical systems

Auke Ijspeert

Abstract The paper presents a two-layered system for (1) learning and encoding a periodic signal without any knowledge on its frequency and waveform, and (2) modulating the learned periodic trajectory in response to external events. The system is used to l ...

2009

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