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Modeling Compositions of Impedance-based Primitives via Dynamical Systems.

Publications associées (36)

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Dynamics of Stochastically Blinking Systems. Part I: Finite Time Properties

Martin Hasler, Igor Belykh

We consider dynamical systems whose parameters are switched within a discrete set of values at equal time intervals. Similar to the blinking of the eye, switching is fast and occurs stochastically and independently for different time intervals. There are t ...

Siam Publications2013

Networks of Self-Adaptive Dynamical Systems

Max-Olivier Hongler, Julio Rodriguez

We discuss the adaptive behaviour of a collection of heterogeneous dynamical systems interacting via a weighted network. At each vertex, the network is endowed with a dynamical system with individual (initially different) control parameters governing the l ...

Oxford University Press2012

Topological Measure Locating the Effective Crossover between Segregation and Integration in a Modular Network

Ali Ajdari Rad

We introduce an easily computable topological measure which locates the effective crossover between segregation and integration in a modular network. Segregation corresponds to the degree of network modularity, while integration is expressed in terms of th ...

American Physical Society2012

Learning Stable Non-Linear Dynamical Systems with Gaussian Mixture Models

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a method for learning discrete robot motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) Dynamical System (DS), and define sufficient conditions to ensure global asymptotic stability a ...

2011

Networks of Self-Adaptive Dynamical Systems

Julio Rodriguez

The present work belongs to the vast body of research devoted to behaviors that emerge when homogeneous or heterogeneous agents interact. We adopt a stylized point of view in which the individual agents' activities can be assimilated into nonlinear dynamic ...

EPFL2011

CPG-based prostheses control

Marc Louis

In this thesis we describe a strategy to control robotic knees and ankles. A dynamical system is used to generate a position trajectory to control a servo motor replacing the missing joint. The dynamical system consists in a pool of coupled oscillators mod ...

2010

Movement Curvature Planning through Force Field Internal Models

Aude Billard, Biljana Petreska von Ritter-Zahony

Human motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. T ...

2009

On-line learning and modulation of periodic movements with nonlinear dynamical systems

Auke Ijspeert

Abstract The paper presents a two-layered system for (1) learning and encoding a periodic signal without any knowledge on its frequency and waveform, and (2) modulating the learned periodic trajectory in response to external events. The system is used to l ...

2009

Spectral coarse graining and synchronization in oscillator networks

Paolo De Los Rios, David Gfeller

Coarse graining techniques offer a promising alternative to large-scale simulations of complex dynamical systems, as long as the coarse-grained system is truly representative of the initial one. Here, we investigate how the dynamical properties of oscillat ...

American Physical Society2008

Reaching with Multi-Referential Dynamical Systems

Aude Billard, Micha Hersch

We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multi-referential control and dynamical system control. The resulting controller is based on two co ...

2008