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Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot

Publications associées (71)

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Multi-contact tactile exploration and interaction with unknown objects

Nicolas Sommer

Humans rely on the sense of touch in almost every aspect of daily life, whether to tie shoelaces, place fingertips on a computer keyboard or find keys inside a bag. With robots moving into human-centered environment, tactile exploration becomes more and mo ...

EPFL2017

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Daniel Thalmann

Dexterity robotic hands can (Cummings, 1996) greatly enhance the functionality of humanoid robots, but the making of such hands with not only human-like appearance but also the capability of performing the natural movement of social robots is a challenging ...

Frontiers Media Sa2017

Cellulo: Versatile Handheld Robots for Education

Pierre Dillenbourg, Francesco Mondada, Léa Marie Pereyre, Wafa Monia Benkaouar Johal, Séverin Lemaignan, Ayberk Özgür, Manon Aline Briod, Maria Maria Beltran Reyes

In this article, we present Cellulo, a novel robotic platform that investigates the intersection of three ideas for robotics in education: designing the robots to be versatile and generic tools; blending robots into the classroom by designing them to be pe ...

ACM2017

Windfield: Demonstrating Wind Meteorology with Handheld Haptic Robots

Pierre Dillenbourg, Francesco Mondada, Wafa Monia Benkaouar Johal, Ayberk Özgür

One of the main issues with the acceptance of robotic tools in schools is the extracurricular aspect of the learning activities using these robots. In the Cellulo project, we developed a novel robotic platform that aims to provide a ubiquitous, versatile a ...

ACM2017

Requirements for building an ontology for autonomous robots

Kamilo Andres Melo Becerra, Howard Li

Purpose - IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the ...

Emerald Group Publishing Ltd2016

Multi-contact haptic exploration and grasping with tactile sensors

Aude Billard, Nicolas Sommer

Haptic exploration has received a great deal of attention of late thanks to the variety of commercially available tactile sensors. While the majority of previous works consider control of a single contact point at a time, we tackle simultaneous control of ...

Elsevier2016

Dynamic Grasp Adaptation

Miao Li

The human hand is an amazing tool, demonstrated by its incredible motor capability and remarkable sense of touch. To enable robots to work in a human-centric environment, it is desirable to endow robotic hands with human-like capabilities for grasping and ...

EPFL2016

Dexterous grasping under shape uncertainty

Aude Billard, Miao Li

An important challenge in robotics is to achieve robust performance in object grasping and manipulation, dealing with noise and uncertainty. This paper presents an approach for addressing the performance of dexterous grasping under shape uncertainty. In ou ...

Elsevier2016

Grasping for the Task

Ravin Luis De Souza

The significant advances made in the design and construction of anthropomorphic robot hands, endow them with prehensile abilities reaching that of humans. However, using these powerful hands with the same level of expertise that humans display is a big cha ...

EPFL2016

Decentralized multi-robot coordination in crowded workspaces

Laleh Makarem

The coordination of multi-robot systems is becoming one of the most important areas of research in robotics, mostly because it is required by numerous complex applications. These applications range from intelligent transportation systems, search and rescue ...

EPFL2015