Publications associées à Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Mikhail Koptev, Nadia Barbara Figueroa Fernandez

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Vaibhav Gupta, Diego Felipe Paez Granados

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

Force Adaptation in Contact Tasks with Dynamical Systems

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...

2020

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Jamie Paik, Frédéric Henri Vaskin Giraud, Hongying Zhang, Yongkang Jiang

In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipe-climbing robots, which are important for automatically conducting periodi ...

2020

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

Robotics: Science and Systems (RSS)2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

MIT PRESS2019

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

Chattez avec Graph Search

Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.

AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.

Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Force Adaptation in Contact Tasks with Dynamical Systems

Multimodal pipe-climbing robot with origami clutches and soft modular legs

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

From human-intention recognition to compliant control using dynamical systems in physical human-robot interaction

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

Graph Chatbot

Chattez avec Graph Search

Multimodal pipe-climbing robot with origami clutches and soft modular legs

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

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

From human-intention recognition to compliant control using dynamical systems in physical human-robot interaction

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Force Adaptation in Contact Tasks with Dynamical Systems