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Related publications (30)

Wearable Haptic Interfaces for Telerobotics

Telerobotics is the process by which human operators control the movement of robots to achieve specific tasks. However, conventional control interfaces, such as joysticks and remote controllers, are not intuitive to use for novice users. Training to use th ...

EPFL2021

Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

Romain Pierre François Baud

Bipedal locomotion is a remarkable feature of humans. This skill is necessary for the activities of daily living. Unfortunately, many people only partially benefit from it or miss it entirely because of a disability. This may result in a slower gait, less ...

EPFL2020

Data-Driven Passivity-Based Current Controller Design for Power-Electronic Converters of Traction Systems

Alireza Karimi, Seyed Sohail Madani

In this paper, a data-driven method for controller design with constraints on the positive-realness of closed-loop transfer functions over an arbitrary set of frequencies is proposed. The positive-realness of a closed-loop transfer function is represented ...

IEEE2020

Data driven model free adaptive iterative learning perimeter control for large-scale urban road networks

Nikolaos Geroliminis, Isik Ilber Sirmatel, Ye Ren

Most perimeter control methods in literature are the model-based schemes designing the controller based on the available accurate macroscopic fundamental diagram (MFD) function with well known techniques of modern control methods. However, accurate modelin ...

2020

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

Auke Ijspeert, Anne Daniëlle Koelewijn

Humans control balance using different feedback loops involving the vestibular system, the visual system, and proprioception. In this article, we focus on proprioception and explore the contribution of reflexes based on force and length feedback to standin ...

FRONTIERS MEDIA SA2020

PolyMPC: An efficient and extensible tool for real‐time nonlinear model predictive tracking and path following for fast mechatronic systems

Colin Neil Jones, Petr Listov

This paper presents PolyMPC, an open‐source C++ library for pseudospectral‐based real‐time predictive control of nonlinear systems. It provides a necessary background on the computational aspects of the pseudospectral approximation of optimal control probl ...

2020

Data-Driven Distributed Combined Primary and Secondary Control in Microgrids

Alireza Karimi, Christoph Manuel Kammer, Seyed Sohail Madani

This paper presents a comprehensive data-driven distributed combined primary/secondary controller design method for microgrids. This method provides transient and steady-state performance including power-sharing and voltage and frequency restoration while ...

2021

Analysis and Transfer of Human Movement Manipulability in Industry-like Activities

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

Humans exhibit outstanding learning, planning and adaptation capabilities while performing different types of industrial tasks. Given some knowledge about the task requirements, humans are able to plan their limbs motion in anticipation of the execution of ...

IEEE2020

Hand-worn Haptic Interface for Drone Teleoperation

Dario Floreano, Fabrizio Schiano, Matteo Macchini, Antoine Weber

Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can r ...

2020

On Gaussian Process Based Koopman Operators

Colin Neil Jones

Enabling analysis of non-linear systems in linear form, the Koopman operator has been shown to be a powerful tool for system identification and controller design. However, current data-driven methods cannot provide quantification of model uncertainty given ...

ELSEVIER2020

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