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Kinematic Batch Calibration for Legged Robots

Publications associées (111)

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Feature-based SLAM using relative quantities and structural knowledge

This thesis is about feature-based mobile robot navigation in unknown environments. The work is focusing on solving the problem of Simultaneous Localization and Mapping (SLAM) including feature extraction, estimation and complete map building solution. The ...

EPFL2008

Design and acceptability assessment of a new reversible orthosis

Jamie Paik

We present a new device aimed at being used for upper limb rehabilitation. Our main focus was to design a robot capable of working in both the passive mode (i.e. the robot shall be strong enough to generate human-like movements while guiding the weak arm o ...

2008

A miniature 7g jumping robot

Dario Floreano, André Guignard, Mirko Kovac, Jean-Christophe Zufferey, Martin Fuchs

Jumping can be a very efficient mode of locomotion for small robots to overcome large obstacles and travel in natural, rough terrain. In this paper we present the development and characterization of a novel 5cm, 7g jumping robot. It can jump obstacles as h ...

2008

Climbing robot with glue feet

Thierry Barras

Le but de ce projet est de réaliser un prototype de robot se déplacant sur la base de pied à colle développés lors d’un projet de semestre précédent. Ces pieds à colle sont en réalité de simples résistances que l’on va chauffer en faisant passer du courant ...

2008

A Two-Time-Scale Control Scheme for Fast Systems

Dominique Bonvin, Philippe Müllhaupt, Sébastien Gros, Davide Buccieri

Model predictive control (MPC) is a very effective approach to control nonlinear systems, especially when the systems are high dimensional and/or constrained. MPC formulates the problem of input trajectory generation as an optimization problem. However, du ...

2007

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006

Toward a person-follower robot

Solaiman Shokur

In this article we described the attempt to build a robot able to locate and follow an human target moving in a domestic environment. After a brief review of the state of the art in relative location technologies, we described our approach that aims to dev ...

Amedeo Cesta2005

EKF-based 3D SLAM for Structured Environment Reconstruction

Roland Siegwart, Jan Weingarten

This paper presents the extension and experimental validation of the widely used EKF1-based SLAM2 algorithm to 3D space. It uses planar features extracted probabilistically from dense three-dimensional point clouds generated by a rotating 2D laser scanner. ...

2005

A Humanoid Robot Drawing Human Portraits

Aude Billard, Sylvain Calinon

This paper presents the creation of a robot capable of drawing artistic portraits. The application is purely entertaining and based on existing tools for face detection and image reconstruction, as well as classical tools for trajectory planning of a 4 DOF ...

2005

MICRON: Small Autonomous Robot for Cell Manipulation Applications

Jean-Marc Breguet, Walter Driesen

Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to figh ...

2005