Publication

Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework

Publications associées (262)

Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

We propose a nonlinear inverse kinematics formulation which solves for positions directly. Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric and singular-postured balancing tasks for hu ...

Ieee-Inst Electrical Electronics Engineers Inc2017

Supernumerary Robotic Arm for Three-Handed Surgical Application: Behavioral Study and Design of Human-Machine Interface

Elahe Abdi

In surgical to industrial manipulation, the operator needs assistance for tasks requiring more than two hands. Teamwork may be the source of errors and inefficiency, especially if the assistant is a novice or unfamiliar with the main operator. The need for ...

EPFL2017

Optimal Path Planning and Coverage Control for Multi-Robot Persistent Coverage in Environments with Obstacles

Alcherio Martinoli, Zeynab Talebpour, José Manuel Palacios Gasos

Persistent coverage aims to maintain a certain coverage level over time in an environment where such level deteriorates. This level can be associated to temperature, dust or sensor information. We propose an algorithmic solution in which each robot locally ...

2017

Unravelling socio-motor biomarkers in schizophrenia

Aude Billard, Mahdi Khoramshahi, Laura Bénédicte Marine Cohen

We present novel, low-cost and non-invasive potential diagnostic biomarkers of schizophrenia. They are based on the 'mirrorgame', a coordination task in which two partners are asked to mimic each other's hand movements. In particular, we use the patient's ...

2017

EMG-based decoding of grasp gestures in reaching-to-grasping motions

Aude Billard, Silvestro Micera, Elvira Pirondini, Sahar El Khoury, Martina Coscia, Iason Batzianoulis

Predicting the grasping function during reach-to-grasp motions is essential for controlling a prosthetic hand or a robotic assistive device. An early accurate prediction increases the usability and the comfort of a prosthetic device. This work proposes an ...

Elsevier2017

A Generative Model for Intention Recognition and Manipulation Assistance in Teleoperation

Sylvain Calinon, Ajay Kumar Tanwani

Performing remote manipulation tasks by teleoperation with limited bandwidth, communication delays and environmental differences is a challenging problem. In this paper, we learn a task-parameterized generative model from the teleoperator demonstrations us ...

2017

Learning by Teaching a Robot: The Case of Handwriting

Pierre Dillenbourg, Séverin Lemaignan, Alexis David Jacq, Fernando Garcia, Deanna Hood, Ana Paiva

Robots for education are not limited to support ICT teaching, and they are indeed finding new roles in the classroom. This article reports on such a new paradigm for educative robots, that involves learning by teaching and strong social engagement to help ...

Ieee-Inst Electrical Electronics Engineers Inc2016

Mechanical Stability Margin for Scouting Poses in Modular Snake Robots

Kamilo Andres Melo Becerra

This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...

Ieee2016

Bio-inspired balance controller for a humanoid robot

Auke Ijspeert, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot, François André Heremans

Humanoid robots are gaining much interest nowadays. This is partly motivated by the ability of such robots to replace humans in dangerous environments being specifically designed for humans, such as man-made or natural disaster scenarios. However, existing ...

Ieee2016

A Dynamical System Approach for Catching Softly a Flying Object: Theory and Experiment

Aude Billard, Mahdi Khoramshahi, Seyed Sina Mirrazavi Salehian

Catching a fast flying object is particularly challenging as consists of two tasks: it requires extremely precise estimation of the object’s motion and control of the robot motion. Any small imprecision may lead the fingers to close too abruptly and let th ...

Institute of Electrical and Electronics Engineers2016

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