Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Publications associées (29)

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Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Paul Scharnhorst

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

EPFL2024

High-frequency response of a hemispherical grounding electrode

Marcos Rubinstein, Antonio Sunjerga, Farhad Rachidi-Haeri

The lightning discharge current is characterized by a high-frequency spectrum extending from DC to about 10 MHz. The calculation of the grounding impedance is one of the most important aspects of designing lightning protection systems. The search for analy ...

Elsevier2024

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Data-Driven Control and Optimization under Noisy and Uncertain Conditions

Baiwei Guo

Control systems operating in real-world environments often face disturbances arising from measurement noise and model mismatch. These factors can significantly impact the perfor- mance and safety of the system. In this thesis, we aim to leverage data to de ...

EPFL2023

Portable impedance-sensing device for microorganism characterization in the field

Sandro Carrara, Karim Bouzid

A variety of biosensors have been proposed to quickly detect and measure the properties of individual microorganisms among heterogeneous populations, but challenges related to cost, portability, stability, sensitivity, and power consumption limit their app ...

Nature Portfolio2023

A geometric optimal control approach for imitation and generalization of manipulation skills

Sylvain Calinon, Amirreza Razmjoo Fard, Jie Zhao

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

Elsevier2023

Learning and optimization of anticipatory feedback controllers for robot manipulation

Hakan Girgin

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

EPFL2023

Self-Synchronized Grid Impedance Estimation Unit using Interpolated DFT Technique

Drazen Dujic, Andrea Cervone, Jules Christian Georges Macé

Estimating the impedance of a grid-connected device or of a grid at the point of common coupling is important for evaluating the interaction between them. Impedance measurement involves a perturbation injection device, that perturbs the system, and a measu ...

2023

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Auke Ijspeert

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

Company Biologists Ltd2023

Systematic design of a multi-input multi-output controller by model-based decoupling: a demonstration on TCV using multi-species gas injection

Basil Duval, Christian Gabriel Theiler, Cristian Galperti, Artur Perek

In this paper, we present the first results of a systematically designed multi-input multi-output gas-injection controller on Tokamak a Configuration Variable (TCV). We demonstrate the simultaneous real-time control of the NII emission front position and l ...

IOP Publishing Ltd2023

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