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Modeling robot geometries like molecules, application to fast multi-contact posture planning for humanoids

Publications associées (57)

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Discrete time stochastic hybrid dynamical games: Verification & controller synthesis

Maryam Kamgarpour

This paper presents a framework for analyzing probabilistic safety and reachability problems for discrete time stochastic hybrid systems in scenarios where system dynamics are affected by rational competing agents. In particular, we consider a zero-sum gam ...

2011

Méthodologie de la synthèse des systèmes énergétiques industriels

Raffaele Bolliger

This work presents a synthesis method that leads to the preliminary design of industrial energy systems. Such systems are composed of several technologies that transform, through a set of physical unit operations, raw materials and energy into products and ...

EPFL2010

Two-stage column generation

Michel Bierlaire, Matteo Salani, Ilaria Vacca

We introduce a new concept in column generation for handling complex large scale optimization problems, called two-stage column generation, where columns for the compact and extensive formulation are simultaneously generated. The new framework is specifica ...

2010

Adaptation Strategies for Real-time Optimization

Dominique Bonvin, Benoît Chachuat

Challenges in real-time process optimization mainly arise from the inability to build and adapt accurate models for complex physico-chemical processes. This paper surveys different ways of using measurements to compensate for model uncertainty in the conte ...

2009

Modifier-adaptation methodology for real-time optimization

Alejandro Gabriel Marchetti

The process industries are characterized by a large number of continuously operating plants, for which optimal operation is of economic importance. However, optimal operation is particularly difficult to achieve when the process model used in the optimizat ...

EPFL2009

Motion autonomy for humanoids: experiments on HRP-2 No. 14

This paper deals with whole-body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a ...

2009

Process Optimization via Constraints Adaptation

Dominique Bonvin, Benoît Chachuat, Alejandro Gabriel Marchetti

In the framework of real-time optimization, measurement-based schemes have been developed to deal with plant-model mismatch and process variations. These schemes differ in how the feedback information from the plant is used to adapt the inputs. A recent id ...

2008

Dynamics systems vs. optimal control a unifying view

Auke Ijspeert

In the past, computational motor control has been approached from at least two major frameworks: the dynamic systems approach and the viewpoint of optimal control. The dynamic system approach emphasizes motor control as a process of self-organization betwe ...

2007

On Learning, Representing and Generalizing a Task in a Humanoid Robot

Aude Billard, Sylvain Calinon

We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a s ...

2007

Real-time optimization of continuous processes via constraints adaptation

Dominique Bonvin, Benoît Chachuat, Alejandro Gabriel Marchetti

In the framework of process optimization, measurements can be used to compensate for the effect of uncertainty. The method studied in this paper combines a process model and measurements to iteratively improve the operation of continuous processes. Unlike ...

2007