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Gait-dependent Traversability Estimation on the k-rock2 Robot

Publications associées (37)

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Algorithmes d'adaptation de maillages anisotropes et application à l'aérodynamique

Wissam Hassan

The goal of this thesis is to study an anisotropic adaptive algorithm for transonic compressible viscous flow around an airwing. A convection-diffusion model problem is considered, an anisotropic a posteriori error estimator for the H1 semi-norm of the err ...

EPFL2012

Robot Trotting with Segmented Legs in Simulation and Hardware.

Massimo Vespignani, Alexander Spröwitz, Mostafa Ajallooeian, Alexandre Tuleu

This research is focusing on the implementation, testing, and analysis of quadrupedal, bio-inspired robot locomotion. Our tool of research is a light-weight, quadruped robot of the size of a house cat, both in simulation and hardware. We are currently foll ...

2012

Game-theoretic Models of Web Credibility

Karl Aberer

Research on Web credibility assessment can significantly benefit from new models that are better suited for evaluation and study of adversary strategies. Currently employed models lack several important aspects, such as the explicit modeling of Web content ...

ACM2012

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

Auke Ijspeert, Alexander Spröwitz, Mostafa Ajallooeian, Rico Möckel, Alexandre Tuleu

: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...

2011

A posteriori error estimator for model adaptivity in electrocardiology

Fabio Nobile

We introduce an a posteriori modeling error estimator for the effective computation of electric potential propagation in the heart. Starting from the Bidomain problem and an extended formulation of the simplified Monodomain system, we build a hybrid model, ...

Elsevier2011

A Hybrid Strategy for Real-Time Traffic Signal Control of Urban Road Networks

Anastasios Kouvelas

The recently developed traffic signal control strategy known as traffic-responsive urban control (TUC) requires availability of a fixed signal plan that is sufficiently efficient under undersaturated traffic conditions. To drop this requirement, the well-k ...

2011

Speech Enhancement using an Improved MMSE Estimator with Laplacian Prior

In this paper we present an optimal estimator of magnitude spectrum for speech enhancement when the clean speech DFT coefficients are modeled by a Laplacian distribution and the noise DFT coefficients are modeled by a Gaussian distribution. Chen has alread ...

2010

Scalable and convergent multi-robot passive and active sensing

A major barrier preventing the wide employment of mobile networks of robots in tasks such as exploration, mapping, surveillance, and environmental monitoring is the lack of efficient and scalable multi-robot passive and active sensing (estimation) methodol ...

IEEE2009

Robust inference for generalized linear models

Sahar Hosseinian Ehrensberger

Generalized Linear Models have become a commonly used tool of data analysis. Such models are used to fit regressions for univariate responses with normal, gamma, binomial or Poisson distribution. Maximum likelihood is generally applied as fitting method. I ...

EPFL2009

Redescending M-estimators

Stephan Morgenthaler

in finite sample studies redescending M-estimators outperform bounded M-estimators (see for example, Andrews et al. [1972. Robust Estimates of Location. Princeton University Press, Princeton]). Even though redescenders arise naturally out of the maximum li ...

Elsevier2008