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Movement Curvature Planning through Force Field Internal Models

Publications associées (49)

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Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

Auke Ijspeert

Nonlinear dynamical systems have been used in many disciplines to model complex behaviors, including biological motor control, robotics, perception, economics, traffic prediction, and neuroscience. While often the unexpected emergent behavior of nonlinear ...

Massachusetts Institute of Technology Press2013

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

Auke Ijspeert, Mostafa Ajallooeian, Jesse van den Kieboom

We present a general family of nonlinear phase oscillators which can exhibit arbitrary limit cycle shapes and infinitely large basins of attraction. This general family is the superset of familiar control methods like PD-control over a periodic reference, ...

Elsevier Science Bv2013

Dynamics of Stochastically Blinking Systems. Part I: Finite Time Properties

Martin Hasler, Igor Belykh

We consider dynamical systems whose parameters are switched within a discrete set of values at equal time intervals. Similar to the blinking of the eye, switching is fast and occurs stochastically and independently for different time intervals. There are t ...

Siam Publications2013

Augmented-SVM: Automatic space partitioning for combining multiple non-linear dynamics

Ashwini Shukla

Non-linear dynamical systems (DS) have been used extensively for building generative models of human behavior. Their applications range from modeling brain dynamics to encoding motor commands. Many schemes have been proposed for encoding robot motions usin ...

Curran Associates, Inc.2012

Networks of Self-Adaptive Dynamical Systems

Max-Olivier Hongler, Julio Rodriguez

We discuss the adaptive behaviour of a collection of heterogeneous dynamical systems interacting via a weighted network. At each vertex, the network is endowed with a dynamical system with individual (initially different) control parameters governing the l ...

Oxford University Press2012

Learning Stable Non-Linear Dynamical Systems with Gaussian Mixture Models

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a method for learning discrete robot motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) Dynamical System (DS), and define sufficient conditions to ensure global asymptotic stability a ...

2011

A Globally Convergent Algorithm for the Run-to-Run Control of Systems with Sector Nonlinearities

Dominique Bonvin, Grégory François

Run-to-run control is a technique that exploits the repetitive nature of processes to iteratively adjust the inputs and drive the run-end outputs to their reference values. It can be used to control both static and finite-time dynamic systems. Although the ...

American Chemical Society2011

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

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

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