Publications related to Atlas (robot)

Online Multicontact Receding Horizon Planning via Value Function Approximation

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Implicit Distance Functions: Learning and Applications in Robotics

Mikhail Koptev

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion

Laura Isabel Paez Coy

Locomotion is an essential evolutive innovation of living beings that allows them to colonize and dominate the planet. As diverse as animal morphologies are (living) and were (extinct), their locomotion modalities are also diverse. In particular, animal mo ...

EPFL2023

Automation in steep terrain agriculture: an optimal controller to prevent tipping and slipping of tethered robots on slopes

Josephine Anna Eleanor Hughes, Max Mirko Polzin

Autonomous robots have the potential to fundamentally transform conventional farming methods, e.g. by enabling economically viable farming of sloped arable land. However, navigation on slopes in harsh conditions is challenging for robots as they must be pr ...

TAYLOR & FRANCIS LTD2023

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Sylvain Calinon, Tobias Löw

Many problems in robotics are fundamentally problems of geometry, which have led to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie algebra, and d ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

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

Locally active globally stable dynamical systems: Theory, learning, and experiments

Aude Billard, Nadia Barbara Figueroa Fernandez

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to perturbations in motion planning and physical human-robot interaction tasks. Learning DS-based motion plans from non-linear reference trajectories is an active research ...

SAGE PUBLICATIONS LTD2022

Advancing coordination control of multi-limb robotic tasks: application to bimanual dynamic manipulation and bipedal reactive locomotion

Michael Bosongo Bombile

Bi-manual picking up of objects to toss them on a conveyor belt are dynamic manipulation activities generated daily in the industry. Such repetitive and physically demanding tasks are still done largely by humans for lack of similarly fast, precise, and ro ...

EPFL2022

Questioning Wizard of Oz: Effects of Revealing the Wizard behind the Robot

Pierre Dillenbourg, Pierre Pravin Oppliger, Barbara Bruno, Jauwairia Nasir

Wizard of Oz, a very commonly employed technique in human-robot interaction, faces the criticism of being deceptive as the humans interacting with the robot are told, if at all, only at the end of their interaction that there was in fact a human behind the ...

IEEE2022

Crash test-based assessment of injury risks for adults and children when colliding with personal mobility devices and service robots

Aude Billard, Diego Felipe Paez Granados

Autonomous mobility devices such as transport, cleaning, and delivery robots, hold a massive economic and social benefit. However, their deployment should not endanger bystanders, particularly vulnerable populations such as children and older adults who ar ...

Nature Publishing Group2022

A unified framework for walking and running of bipedal robots

Ludovic Righetti, Elham Daneshmand

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

IEEE2021

iCub Joint Space Self-Collision Avoidance [Data & Code]

Mikhail Koptev

These data files containg code sources for dataset creation & model learning (Joint-Space-SCA.zip) and collected synthetic dataset of free & collided postures for humanoid robot iCub (raw_binary_data.zip). Follow the Readme.MD files to launch the code if n ...

Zenodo2021

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Jamie Paik, Frédéric Henri Vaskin Giraud, Hongying Zhang, Yongkang Jiang

In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipe-climbing robots, which are important for automatically conducting periodi ...

2020

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

Aude Billard, Salman Faraji, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

IEEE2020

Force Adaptation in Contact Tasks with Dynamical Systems

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...

IEEE2020

Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects

Auke Ijspeert, Florin Dzeladini

Powered exoskeletons are among the emerging technologies claiming to assist functional ambulation. The potential to adapt robotic assistance based on specific motor abilities of incomplete spinal cord injury (iSCI) subjects, is crucial to optimize Human-Ro ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Learning (Good Handwriting In Greek) By Teaching (A Humanoid Robot)

Thibault Lucien Christian Asselborn, Wafa Monia Benkaouar Johal, Thanasis Hadzilacos

We report on a follow-up study of the Co-Writer project at EPFL [1]; we confirm their findings, extend the applicability to another language with a different alphabet (Greek) and go into an in-depth qualitative study of the child-robot relationship. The co ...

IATED-INT ASSOC TECHNOLOGY EDUCATION & DEVELOPMENT2020

Object Grasping of Humanoid Robot Based on YOLO

Daniel Thalmann

This paper presents a system that aims to achieve autonomous grasping for micro-controller based humanoid robots such as the Inmoov robot [1]. The system consists of a visual sensor, a central controller and a manipulator. We modify the open sourced object ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

From standing balance to walking: A single control structure for a continuum of gaits

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

This article presents a control algorithm framework with which a bipedal robot can perform a variety of gaits by only modifying a small set of control parameters. The controller drives a number of variables, called non-emergent variables, to their desired ...

2019