Publication

Learning Nonlinear Multi-Variate Motion Dynamics for Real- Time Position and Orientation Control of Robotic Manipulators

Publications associées (28)

Hitting with Different Joints of a Robotic Manipulator

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

2024

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

Sudong Lee

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 ...

2023

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

Aude Billard, Harshit Khurana

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

Improving hand prosthesis control with advanced single-finger proportional decoding and robotic shared control

Vincent Alexandre Mendez

Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Commercial devices usually use a two-recording-channel system placed on specific muscles to control a single degree of fr ...

EPFL2023

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

Aude Billard, Kunpeng Yao

Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...

2023

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

Design considerations for robotically assembled through-tenon timber joints

Pierre Latteur, Yves Weinand, Julien Gamerro, Nicolas Henry Pierre Louis Rogeau

This research investigates the robotic assembly of timber structures connected by wood–wood connections. As the digitization of the timber construction sector progresses, digital tools, such as industrial robotic arms and Computer Numerical Control machine ...

2022

Bio-inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation

Josephine Anna Eleanor Hughes, Kai Christian Junge

Humans have an incredible sense of self-preservation that is both instilled, and also learned through experience. One system which contributes to this is the pain and reflex system which both minimizes damage through involuntary reflex ac- tions and also s ...

2022

Automatic Acquisition of a Repertoire of Diverse Grasping Trajectories through Behavior Shaping and Novelty Search

Aurélien Arthur Enzo Morel

Grasping a particular object may require a dedicated grasping movement that may also be specific to the robot end-effector. No generic and autonomous method does exist to generate these movements without making hypotheses on the robot or on the object. Lea ...

IEEE2022

Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

Farshad Khadivar

As technology continues to evolve, robots are becoming an intrinsic part of our lives. While robots surpass human capabilities in precision and speed, they are far from matching humans' ability to adapt to unexpected changes. Humans can quickly and complia ...

EPFL2022

Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators

Aude Billard, Walid Amanhoud, Farshad Khadivar, Sthithpragya Gupta

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

Design-to-Fabrication Workflow for Raw-Sawn-Timber using Joinery Solver

Petras Vestartas

Currently, the Swiss timber industry in mountain areas largely exports unprocessed lumber and imports finished timber products due to the lack of digital tools. By using new digital design-to-production workflows, it is possible to investigate new building ...

EPFL2021

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Yufei Hao

Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

FRONTIERS MEDIA SA2021

Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback

Harshal Arun Sonar

As the field of robotics continues to grow outside the manufacturing environment into our daily lives, the interactions between humans and robots are increasingly becoming close and dynamic. This type of environment requires robots to be less rigid, multi- ...

EPFL2021

Model-Free Iterative Learning Control With Nonrepetitive Trajectories for Second-Order MIMO Nonlinear Systems-Application to a Delta Robot

Mohamed Bouri

A model-free iterative learning control strategy (ILC) in nonrepetitive trajectories, applied to robotic manipulators is presented in this article. The development of this ILC controller is derived in general case for second-order nonlinear multi-input mul ...

2021

Deep Learning Approaches for Auditory Perception in Robotics

Weipeng He

Auditory perception is an essential part of a robotic system in Human-Robot Interaction (HRI), and creating an artificial auditory perception system that is on par with human has been a long-standing goal for researchers. In fact, this is a challenging res ...

EPFL2021

Product of experts for robot learning from demonstration

Emmanuel Pignat

Adaptability and ease of programming are key features necessary for a wider spread of robotics in factories and everyday assistance. Learning from demonstration (LfD) is an approach to address this problem. It aims to develop algorithms and interfaces such ...

EPFL2021

An integrated design tool for timber plate structures to generate joints geometry, fabrication toolpath, and robot trajectories

Pierre Latteur, Yves Weinand, Nicolas Henry Pierre Louis Rogeau

This paper presents an integrated design tool for structures composed of engineered timber panels that are connected by traditional wood joints. Recent advances in computational architecture have permitted to automate the fabrication and assembly of such s ...

2021

A spiking central pattern generator for the control of a simulated lamprey robot running on SpiNNaker and Loihi neuromorphic boards

Auke Ijspeert, Axel von Arnim, Jonathan Patrick Arreguit O'Neill, Emmanouil Angelidis

Central pattern generator (CPG) models have long been used to investigate both the neural mechanisms that underlie animal locomotion, as well as for robotic research. In this work we propose a spiking central pattern generator (SCPG) neural network and its ...

Iop Publishing Ltd2021

Laser Scanning with Industrial Robot Arm for Raw-wood Fabrication

Yves Weinand, Petras Vestartas

This paper presents an integrated raw-wood fabrication workflow using an industrial robot arm and a laser scanner. The research is situated in a Swiss mountain forestry context where timber in its natural form could be applied locally without relying on la ...

2020