Mechanical Stability Margin for Scouting Poses in Modular Snake Robots
Graph Chatbot
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.
This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The ...
The context of this thesis is the interactive manipulation of complex articulated figures by means of geometric constraints (here called tasks), for the purpose of posture control and design. The goal is to determine a posture satisfying a set of prescribe ...
The main objective of this thesis is the accuracy improvement of parallel robots. Accuracy can be improved either by precise manufacturing and assembly or by calibration of each individual robot using a kinematic model which takes geometric deviations into ...
A global approach to the problem of model-based control of fast parallel robots is proposed in this work. Fundamental differences between the well-known serial arms and parallel manipulators are first explained. A formalism inspired from Denavit-Hartenberg ...
In robotics we depend on software tools during design, modeling, programming and testing. These tools are essentials, often indispensable aids for developing and operating sophisticated robotic systems. At the same time, these tools are complex and usually ...
We propose an efficient kinematic position control for the center of mass of an articulated arm. The algorithm integrates the context of multiple joints reaching their limit value together with a singular configuration on the remaining joint space. We demo ...
In this paper an evolutionary method consisting of encoding a set of local adaptation rules that synapses obey while a robot freely moves in the environment is compared to standard evolution of fixed-weight control networks. The results show ha evolutionar ...
In the fields of semiconductors, opto-electronic interconnection and microsystems in general, the demand for precise positionning has grown along with the increasing miniaturization of the structures which are to be handled or tested. In many cases an inap ...
This paper presents the latest results of a joint research project involving the Institute of Microengineering of the Swiss Federal Institute of Technology (Switzerland) and the Industrial Automation Laboratory of the Lyon National Institute of Applied Sci ...
In this paper we present an approach to obstacle avoidance and local path planning for polygonal robots. It decomposes the task into a model stage and a planning stage. The model stage accounts for robot shape and dynamics using a reduced dynamic window. T ...