Publication
Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots
Publications associées (46)
Implicit Distance Functions: Learning and Applications in Robotics
In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...
EPFL2023Haptics based multi-level collaborative steering control for automated driving
Hannes Bleuler, Jürg Alexander Schiffmann, Tomohiro Nakade, Robert Fuchs
Increasing the capability of automated driving vehicles is motivated by environmental, productivity, and traffic safety benefits. But over-reliance on the automation system is known to cause accidents. The role of the driver cannot be underestimated as it ...
2023Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas
Aude Billard, Diego Felipe Paez Granados, Pericle Salvini
The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...
2021Learning (Good Handwriting In Greek) By Teaching (A Humanoid Robot)
Thibault Lucien Christian Asselborn, Wafa Monia Benkaouar Johal, Thanasis Hadzilacos
We report on a follow-up study of the Co-Writer project at EPFL [1]; we confirm their findings, extend the applicability to another language with a different alphabet (Greek) and go into an in-depth qualitative study of the child-robot relationship. The co ...
IATED-INT ASSOC TECHNOLOGY EDUCATION & DEVELOPMENT2020Learning Task Priorities from Demonstrations
As humanoid robots become increasingly popular, learning and control algorithms must take into account the new constraints and challenges inherent to these platforms, if we aim to fully exploit their potential. One of the most prominent of such aspects is ...
2019Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning
Alexandre Massoud Alahi, Yuejiang Liu, Sven Kreiss, Changan Chen
Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. However, ...
IEEE2019Human-Human, Human-Robot and Robot-Robot Interaction While Walking: Data Analysis, Modelling and Control
In everyday life humans perform many tasks with other partners which involve coordination, involuntary communication and mutual control adaptation, as the case of carrying objects together with another person. Humanoid robots may help with such activities ...
EPFL2019From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems
Nadia Barbara Figueroa Fernandez
Humans have a remarkable way of learning, adapting and mastering new manipulation
tasks. With the current advances in Machine Learning (ML), the promise of having
robots with such capabilities seems to be on the cusp of reality. Transferring human-level
sk ...
EPFL2019Bimanual Skill Learning with Pose and Joint Space Constraints
As humanoid robots become commonplace, learning and control algorithms must take into account the new challenges imposed by this morphology, if we aim to fully exploit their potential. One of the most prominent characteristics of such robots is their biman ...
2018The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand
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