Publications related to On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

2024

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Izzet Kagan Erünsal

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

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Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

A wind tunnel study on cyclic yaw control: Power performance and wake characteristics

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In this study, wind-tunnel experiments are used to investigate cyclic yaw control as a wake mitigation strategy aiming to improve wind farm power production. The control strategy is applied to a single wind turbine and a wind farm comprising of a column of ...

Elsevier2023

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Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

IEEE2023

Exploration-based model learning with self-attention for risk-sensitive robot control

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Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

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Self-sustained dynamics and forced resonant oscillations in flows: cross-junction jets and sloshing liquids

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In engineering, oscillatory instabilities and resonances are often considered undesirable flow features and measures are taken to avoid them. This may include avoiding certain parametric regions or implementing control and mitigation strategies. However, t ...

EPFL2023

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals

Aude Billard, José del Rocio Millán Ruiz, Fumiaki Iwane

During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

Nature Portfolio2023

Distributionally Robust Linear Quadratic Control

Daniel Kuhn, Cagil Kocyigit, Bahar Taskesen

Linear-Quadratic-Gaussian (LQG) control is a fundamental control paradigm that is studied in various fields such as engineering, computer science, economics, and neuroscience. It involves controlling a system with linear dynamics and imperfect observations ...

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Morphological flexibility in robotic systems through physical polygon meshing

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Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Nature Portfolio2023

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Célestin Vallat, Pedro Miguel Nunes Pereira de Almeida Reis, Tomohiko Sano, Tian Chen, Samuel Jean Bernard Poincloux

Discrete domes are doubly curved structures comprising a network of beam-like elements. We study the mechanics of discrete domes made of ribbons woven in a pentagonal triaxial pattern. Experiments and finite element simulations are performed to characteriz ...

ELSEVIER2023

Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology

Melanie Nicole Zeilinger, Danilo Saccani

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our motivation from ...

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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

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EPFL2023

Robust optimization of control parameters for WEC arrays using stochastic methods

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EGG Objective characterization of cybersickness symptoms towards navigation axis

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FRONTIERS MEDIA SA2023

Memory of Motion for Initializing Optimization in Robotics

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Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

EPFL2022

Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

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Gait-dependent Traversability Estimation on the k-rock2 Robot

Auke Ijspeert, Matthew Alfonso Estrada, Mohammadreza Ebrahimi

Assessing the traversability of rugged terrain is a difficult challenge for legged robots, especially when they implement multiple, distinct gaits. We tackle this problem on the k-rock2 amphibious, sprawling gait robot by training a gait-dependent traversa ...

IEEE2022