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Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Publications associées (83)

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Compliant control of Uni/ Multi- robotic arms with dynamical systems

Seyed Sina Mirrazavi Salehian

Accomplishment of many interactive tasks hinges on the compliance of humans. Humans demonstrate an impressive capability of complying their behavior and more particularly their motions with the environment in everyday life. In humans, compliance emerges fr ...

EPFL2018

Prefabrication of structures is currently used in a limited capacity, due to the lack of flexibility, despite the potential cost and speed advantages. Autonomous flexible reassembly enables structures to be developed which can be continuously and iterative ...

Institute of Electrical and Electronics Engineers Inc.2018

A Brief Survey on the Role of Dimensionality Reduction in Manipulation Learning and Control

Sylvain Calinon

Bio-inspired designs are motivated by efficiency, adaptability and robustness of biological systems dynamic behaviors in complex environment. Despite progress in design, the lack of sensory-motor and learning capabilities is the main drawback of human-like ...

2018

Experimental indoors localization using distance measurements obtained from visual data

Yuan Yao

In recent years, the emergence of artificial intelligence increases the demand of automatic and robust localization outdoors and indoors. While GPS provides enough accuracy in most outdoor cases, there is still a lack of robust and efficient indoor localiz ...

2017

Functional and Adaptive Construction for Rescue

Hadi Ardiny

Although recent advances in the field of robotics have greatly increased robotic capabilities for several applications, autonomous robots are still in their infancy regarding their support of onsite construction. Unlike production robots that are used, for ...

EPFL2017

Adaptive Lévy Taxis for Odor Source Localization in Realistic Environmental Conditions

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar, Romain Jean-Paul Emery

Odor source localization with mobile robots has recently been subject to many research works, but remains a challenging task mainly due to the large number of environmental parameters that make it hard to describe gas concentration fields. We designed a ne ...

2017

Collision Avoidance with Limited Field of View Sensing: A Velocity Obstacle Approach

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

Collision avoidance, in particular between robots, is an important component for autonomous robots. It is a necessary component in numerous applications such as human-robot interaction, automotive or unmanned aerial vehicles. While many collision avoidance ...

2017

Requirements for building an ontology for autonomous robots

Kamilo Andres Melo Becerra, Howard Li

Purpose - IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the ...

Emerald Group Publishing Ltd2016

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Auke Ijspeert, Salman Faraji

In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and ass ...

Ieee2016