A geometric optimal control approach for imitation and generalization of manipulation skills
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.
Very often, when addressing the problem of human-robot skill transfer in task space, only the Cartesian position of the end-effector is encoded by the learning algorithms, instead of the full pose. However, orientation is just as important as position, if ...
Physical interaction between humans and robots arises a large set of challenging problems involving hardware, safety, control and cognitive aspects, among others. In this context, the cooperative (two or more people/robots) transportation of bulky loads in ...
Independence from the coordinate system is one source of efficiency and robustness for the Covariance Matrix Adaptation Evolution Strategy (CMA-ES). The recently proposed Adaptive Encoding (AE) procedure generalizes CMA-ES adaptive mechanism, and can be us ...
We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...
Robot learning from demonstrations requires the robot to learn and adapt movements to new situations, often characterized by position and orientation of objects or landmarks in the robot’s environment. In the task-parameterized Gaussian mixture model frame ...
Thymio II is a small robot developed for education. It aims at offering a wide public the possibility to understand the basics of robotics and programming. To achieve this, it aims at being appealing to a large age range and serve as a medium for several t ...
We study how a robot can link concepts represented by adjectives and nouns in language with its own sensorimotor interactions. Specifically, an iCub humanoid robot interacts with a group of objects using a repertoire of manipulation behaviors. The objects ...
In this paper we focus on human-robot interaction particularities that occur during programming by demonstration. Understanding what makes the interaction rewarding and keeps the user engaged helps optimize the robot's learning. Two user studies are presen ...
This paper presents a cooperative distributed approach for searching odor sources in unknown structured environments with multiple mobile robots. While searching and exploring the environment, the robots independently generate on-line local topological map ...
The understanding of the physical processes related to flows on compound meandering channels is a challenge given their highly 3D and complex characteristics. Three-dimensional ADV measurements were made in three cross-sections on a 1:20 physical Froude mo ...
