Memory of Motion for Initializing Optimization in Robotics
Graph Chatbot
Chattez avec Graph Search
Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.
AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.
The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. Increasing the controller complexity may be a desirable choice in order to obtain an improved performance. However, these two aspects may p ...
Reaching over to grasp an item is arguably the most commonly used motor skill by humans. Even under sudden perturbations, humans seem to react rapidly and adapt their motion to guarantee success. Despite the apparent ease and frequency with which we use th ...
We consider the distance from a (square or rectangular) matrix pencil to the nearest matrix pencil in 2-norm that has a set of specified eigenvalues. We derive a singular value optimization characterization for this problem and illustrate its usefulness fo ...
The problem of transferring skills to hyper-redundant system requires the design of new motion primitive representations that can cope with multiple sources of noise and redundancy, and that can dynamically handle perturbations in the environment. One way ...
We present algorithms for inferring the cost function and reference trajectory from human demonstrations of hand-writing tasks. These two key elements are then used, through optimal control, to generate an impedance-based controller for a robotic hand . Th ...
In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...
Transferring skills from a biological organism to a hyper-redundant system is a challenging task, especially when the two agents have very different structure/embodiment and evolve in different environments. In this article we propose to address this probl ...
Function computation over Gaussian networks with orthogonal components is studied for arbitrarily correlated discrete memoryless sources. Two classes of functions are considered: 1) the arithmetic sum function and 2) the type function. The arithmetic sum f ...
Institute of Electrical and Electronics Engineers2014
This paper introduces a novel batch optimization based calibration framework for legged robots. Given a nondegenerate calibration dataset and considering the stochastic models of the sensors, the task is formulated as a maximum likelihood problem. In order ...
The issues in the energy-efficiency process have much interest in the automotive industry. The energy criteria are also important in machine selection as well as productivity when new equipment is introduced on a shop floor. Remote laser welding having ben ...
