Implicit Distance Functions: Learning and Applications in Robotics
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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 ...
Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...
The coordination of multi-robot systems is becoming one of the most important areas of research in robotics, mostly because it is required by numerous complex applications. These applications range from intelligent transportation systems, search and rescue ...
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in prior work on a point-foot quadruped platform by a ...
Direct transfer of human motion trajectories to humanoid robots does not result in dynamically stable robot movements due to the differences in human and humanoid robot kinematics and dynamics. We developed a system that converts human movements captured b ...
Despite tremendous advances in robotics, we are still amazed by the proficiency with which humans perform movements. Even new waves of robotic systems still rely heavily on hardcoded motions with a limited ability to react autonomously and robustly to a dy ...
Respiratory motion is a major challenge in cardiac magnetic resonance imaging (MRI) and contemporary state-of-the-art motion compensation strategies like diaphragmatic navigators still suffer from sub-optimal time efficiency. In response, k-space- based on ...
In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and con ...
Vision is a very rich sensor with a proven critical role in the control of balance. However, it is widely under- used for robotics postural control. This paper presents and compares two approaches, one model-based and one model-free, to ensure stability of ...
Collision Warning Systems (CWS) are safety sys- tems designed to warn the driver about an imminent collision. A CWS monitors the dynamic state of the traffic in real- time by processing information from various proprioceptive and exteroceptive sensors. It ...