Publications associées à Espace de configuration

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Aude Billard, Kunpeng Yao, Xiao Gao, Farshad Khadivar

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

Elsevier2023

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

Energy dissipation in fiber-polymer composites adhesive joints under cyclic loading

Ghazaleh Eslami

Sustainable development has emerged as a paramount consideration in various fields of industry, including construction, to preserve the environment and its finite resources. Lightweight structures, such as fiber-polymer composite structures, address both s ...

EPFL2023

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

2022

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Sylvain Calinon, Emmanuel Pignat

Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although the robot configuration is defined by its joint angles, end-effector poses are oft ...

2021

Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators

Aude Billard, Walid Amanhoud, Sthithpragya Gupta, Farshad Khadivar

The inverse dynamics of a robotic manipulator is instrumental in precise robot control and manipulation. However, acquiring such a model is challenging, not only due to unmodelled non-linearities such as joint friction, but also from a machine learning per ...

IEEE2021

High-order based revelation of bifurcation of novel Schatz-inspired metamorphic mechanisms using screw theory

Huijuan Feng

The revelation of mechanism bifurcation is essential in the design and analysis of reconfigurable mechanisms. The first- and second-order based methods have successfully revealed the bifurcation of mechanisms. However, they fail in the novel Schatz-inspire ...

PERGAMON-ELSEVIER SCIENCE LTD2020

On the statistical physics of chains and rods, with application to multi-scale sequence-dependent DNA modelling

Alexandre Emmanuel Grandchamp

The complex mechanisms involved in cellular processes have been increasingly understood this past century and the central role of the DNA molecule has been recognized. The base pair sequence along a DNA fragment is observed not only to encode the genomic i ...

EPFL2016

Continuous monitoring of bedload transport in a laboratory flume using an impact sensor

Christophe Ancey, Blaise Etienne Marceau Dhont, Gauthier Paul Daniel Marie Rousseau

Bedload transport rate in gravel-bed rivers shows large non-Gaussian fluctuations, even under steady flow conditions. The development of high-resolution measurement techniques during the last two decades creates research opportunities to study the intermit ...

American Society of Civil Engineers2016

Statistical Analysis of Ion Mobility Spectrometry. II. Adaptively Biased Methods and Shape Correlations

Yury Tsybin

Following a recent effort [J. Am. Soc. Mass Spectrom. 23, 386-396 (2012)], we continue to explore computational methodologies for generating molecular conformations to support collisional cross sections suggested by ion mobility measurements. Here, adaptiv ...

2012

Gauge Transformations, Twisted Poisson Brackets and Hamiltonization of Nonholonomic Systems

In this paper we study the problem of Hamiltonization of nonholonomic systems from a geometric point of view. We use gauge transformations by 2-forms (in the sense of evera and Weinstein in Progr Theoret Phys Suppl 144:145 154 2001) to construct different ...

Springer Verlag2012

High Spatial and Spectral Resolution Long-Range Sensing Using Brillouin Echoes

Luc Thévenaz, Sang Hoon Chin, Kwang-Yong Song, Nikolay Primerov, Stella Foaleng Mafang

While classical configurations have a practical spatial resolution of 1 meter, novel approaches have been demonstrated that can overcome this limit to offer spatial resolutions in the centimetre range, while preserving full measurand accuracy. ...

Optical Society of America2011

Advanced Brillouin-based distributed optical fibre sensors with sub-meter scale spatial resolution

Luc Thévenaz, Sang Hoon Chin, Kwang-Yong Song, Nikolay Primerov, Stella Foaleng Mafang

Classical configurations of Brillouin distributed optical fibre sensors show a spatial resolution limited by the phonon lifetime to 1 meter. Novel approaches can substantially overcome this limit through the prior activation of the acoustic wave. ...

IEEE2010

Nonlinear Stability of Riemann Ellipsoids with Symmetric Configurations

Using modern differential geometric methods, we study the relative equilibria for Dirichlet's model of a self-gravitating fluid mass having at least two equal axes. We show that the only relative equilibria of this type correspond to Riemann ellipsoids for ...

Springer-Verlag2009

Motion autonomy for humanoids: experiments on HRP-2 No. 14

This paper deals with whole-body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a ...

2009

Segregation in swarms of mobile robots based on the Brazil nut effect

Francesco Mondada, Stéphane Magnenat, Roderich Gross

We study a simple algorithm inspired by the Brazil nut effect for achieving segregation in a swarm of mobile robots. The algorithm lets each robot mimic a particle of a certain size and broadcast this information locally. The motion of each particle is con ...

IEEE Computer Society Press2009

On Achieving Periodic Joint-Motion for Redundant Robots

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working ...

2008

Transverse observables and mass determination at hadron colliders

I consider the two-body decay of a particle at a hadron collider into a visible and an invisible particle, generalizing W -> ev, where the masses of the decaying particle and the invisible decay particle are, a priori, unknown. I prove that the transverse ...

Springer Nature2008

A path integral formalism of DNA looping probability

Ludovica Cotta-Ramusino

In this thesis we describe a path integral formalism to evaluate approximations to the probability density function for the location and orientation of one end of a continuum polymer chain at thermodynamic equilibrium with a heat bath. We concentrate on th ...

EPFL2008