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Probabilistic Adaptive Control for Robust Behavior Imitation

Publications associées (48)

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Feedback loop conception methodology for step-down continuous switching DC/DC converter

Maher Kayal, Stefano Michelis

The stability and the dimensioning of a step-down switching voltage regulator feedback loop remain a complex task. An analytical approach allows dimensioning of all the components, strongly facilitating this task. In this article, a mathematical analysis i ...

2008

Engineering limit cycle systems

Jonas Buchli

In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...

EPFL2007

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...

2007

The paper describes development of a feedback position controller for a new type of monolithic "hybrid" ultrasonic motor. The goal of the controller design was to demonstrate the main advantage of this piezoelectric motor – high speed and high accuracy at ...

2006

The reasons for the cellular specificity and slow progression of motoneuron diseases such as ALS are still poorly understood. We previously described a motoneuron-specific cell death pathway downstream of the Fas death receptor, in which synthesis of nitri ...

2006

, ,

The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the so-called instability of the current vertical position. Linearized models all share the feature of a single unstable eigenmode, attributable t ...

Institute of Physics2005

The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the instability of the plasma vertical position. In this case the control becomes a significant problem when saturation of the power supplies is c ...

EPFL2004

A new vertical position control system, including an internal active coil, has become operational on TCV. The new system has made it possible to stabilize plasmas with open loop growth rates up to 4400 s(-1), currents up to 1.0 MA and elongations up to 2.5 ...

1998