Publications related to Rotary encoder

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

IEEE2023

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

Computational Design of Deployable Auxetic Shells

Mark Pauly, Mina Konakovic Lukovic

We propose an interactive computational design method for deployable auxetic shells. We realize deployable auxetics as triangular linkages that can be actuated with simple expansive mechanisms to assume a desired freeform target shape. The core feature of ...

2018

Learning adaptive dressing assistance from human demonstration

Sylvain Calinon, Emmanuel Pignat

For tasks such as dressing assistance, robots should be able to adapt to different user morphologies, preferences and requirements. We propose a programming by demonstration method to efficiently learn and adapt such skills. Our method encodes sensory info ...

Elsevier2017

Autonomous Learning of Internal Dynamic Models for Reaching Tasks

Auke Ijspeert, Tadej Petric

The paper addresses the problem of learning internal task-specific dynamic models for a reaching task. Using task-specific dynamic models is crucial for achieving both high tracking accuracy and compliant behaviour, which improves safety concerns while wor ...

Springer-Verlag Berlin2016

A modular approach to learning manipulation strategies from human demonstration

Aude Billard, Miao Li, Ravin Luis De Souza

Object manipulation is a challenging task for robotics, as the physics involved in object interaction is complex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly w ...

Springer Verlag2016

A Modular Approach to Learning Manipulation Strategies from Human Demonstration

Aude Billard, Miao Li, Ravin Luis De Souza

Object manipulation is a challenging task for robotics, as the physics involved in object interaction is com- plex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly ...

Springer Verlag2016

Catching Objects in Flight

Aude Billard, Ashwini Shukla, Seungsu Kim

We address the difficult problem of catching in-flight objects with uneven shapes. This requires the solution of three complex problems: accurate prediction of the trajectory of fastmoving objects, predicting the feasible catching configuration, and planni ...

Institute of Electrical and Electronics Engineers2014

The Role of Environmental and Controller Complexity in the Distributed Optimization of Multi-Robot Obstacle Avoidance

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. Increasing the controller complexity may be a desirable choice in order to obtain an improved performance. However, these two aspects may p ...

2014

Effects of LHRF on toroidal rotation in Alcator C-Mod plasmas

Christian Gabriel Theiler

Application of lower hybrid range of frequencies (LHRF) waves can induce both co- and counter-current directed changes in toroidal rotation in Alcator C-Mod plasmas, depending on the target plasma current, electron density, confinement regime and magnetic ...

IOP Publishing Ltd2013

Learning Motion Dynamics to Catch a Moving Object

Aude Billard, Elena Gribovskaya, Seungsu Kim

In this paper, we consider a novel approach to control the timing of motions when these are encoded with autonomous dynamical systems (DS). Accurate timing of motion is crucial if a robot must synchronize its movement with that of a fast moving object. In ...

2010

On Learning, Representing and Generalizing a Task in a Humanoid Robot

Aude Billard, Sylvain Calinon, Florent Günter

We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a s ...

2007

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006

Topological SLAM : simultaneous localization and mapping with fingerprints of places

Adriana Tapus

This thesis is about topological navigation, more precisely about space representation, perception, localization and mapping. All these elements are needed in order to obtain a robust and reliable framework for navigation. This is essential in order to mov ...

EPFL2005

Calibration of the 5-dof parallel kinematics HITA-STT

Reymond Clavel

The parallel kinematics machine tool HITA-STT (Stiffness Tracking Technology) developed by Willemin–Machines S.A. and EPFL is now able to machine. This machine can reach accelerations of 5g. It is characterized by a tilt of ± 60° around the B-axis. This ch ...

2004