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检索条件"机构=Computational Learning and Motor Control"
70 条 记 录,以下是21-30 订阅
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Robot arm pose estimation by pixel-wise regression of joint angles
Robot arm pose estimation by pixel-wise regression of joint ...
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IEEE International Conference on Robotics and Automation (ICRA)
作者: Felix Widmaier Daniel Kappler Stefan Schaal Jeannette Bohg Autonomous Motion Department Max-Planck-Institute for Intelligent Systems Tübingen Germany Karls University of Tübingen Germany Computational Learning and Motor Control lab at the University of Southern California Los Angeles CA USA
To achieve accurate vision-based control with a robotic arm, a good hand-eye coordination is required. However, knowing the current configuration of the arm can be very difficult due to noisy readings from joint encod... 详细信息
来源: 评论
Surface tilt perception with a biomimetic tactile sensor
Surface tilt perception with a biomimetic tactile sensor
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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
作者: Zhe Su Stefan Schaal Gerald E. Loeb Computational Learning and Motor Control Lab University of Southern California Los Angeles CA USA Autonomous Motion Department Max-Planck Institute for Intelligent Systems Tubingen Germany SynTouch LLC Los Angeles CA USA
Humans are known to be good at manipulating tools. To cope with disturbances and uncertainties from the external environment during such tasks, they must be able to perceive small changes in orientation or tilt of the... 详细信息
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Automatic LQR tuning based on Gaussian process global optimization
Automatic LQR tuning based on Gaussian process global optimi...
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IEEE International Conference on Robotics and Automation (ICRA)
作者: Alonso Marco Philipp Hennig Jeannette Bohg Stefan Schaal Sebastian Trimpe Max Planck Institute for Intelligent Systems Tübingen Germany Max-Planck-Institut fur Intelligente Systeme Stuttgart Baden-Württemberg DE Computational Learning and Motor Control Lab at the University of Southern California Los Angeles CA USA
This paper proposes an automatic controller tuning framework based on linear optimal control combined with Bayesian optimization. With this framework, an initial set of controller gains is automatically improved accor... 详细信息
来源: 评论
Leveraging big data for grasp planning
Leveraging big data for grasp planning
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IEEE International Conference on Robotics and Automation (ICRA)
作者: Daniel Kappler Jeannette Bohg Stefan Schaal Autonomous Motion Department at the Max-Planck-Institute for Intelligent Systems Tübingen Germany Computational Learning and Motor Control lab at the University of Southern California Los Angeles CA USA
We propose a new large-scale database containing grasps that are applied to a large set of objects from numerous categories. These grasps are generated in simulation and are annotated with different grasp stability me... 详细信息
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The Coordinate Particle Filter - a novel Particle Filter for high dimensional systems
The Coordinate Particle Filter - a novel Particle Filter for...
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IEEE International Conference on Robotics and Automation (ICRA)
作者: Manuel Wüthrich Jeannette Bohg Daniel Kappler Claudia Pfreundt Stefan Schaal Autonomous Motion Department at the Max-Planck-Institute for Intelligent Systems Tübingen Germany High Performance Humanoid Technologies Lab Karlsruhe Institute of Technology Karlsruhe Germany Computational Learning and Motor Control lab at the University of Southern California Los Angeles CA USA
Parametric filters, such as the Extended Kalman Filter and the Unscented Kalman Filter, typically scale well with the dimensionality of the problem, but they are known to fail if the posterior state distribution canno... 详细信息
来源: 评论
Humanoid Momentum Estimation Using Sensed Contact Wrenches
Humanoid Momentum Estimation Using Sensed Contact Wrenches
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IEEE-RAS International Conference on Humanoid Robots
作者: Nicholas Rotella Alexander Herzog Stefan Schaal Ludovic Righetti Computational Learning and Motor Control Lab University of Southern California Autonomous Motion Department Max Planck Institute for Intelligent Systems
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted ... 详细信息
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Efficient Bayesian Local Model learning for control
Efficient Bayesian Local Model Learning for Control
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IEEE/RSJ International Conference on Intelligent Robots and Systems
作者: Franziska Meier Philipp Hennig Stefan Schaal Computational Learning and Motor Control Lab University of Southern California Los Angeles CA 90089 USA Max-Planck-Institute for Intelligent Systems 72076 Tubingen Germany
Model-based control is essential for compliant control and force control in many modern complex robots, like humanoid or disaster robots. Due to many unknown and hard to model nonlinearities, analytical models of such... 详细信息
来源: 评论
Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting
Full dynamics LQR control of a humanoid robot: An experiment...
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IEEE-RAS International Conference on Humanoid Robots
作者: Sean Mason Ludovic Righetti Stefan Schaal Computational Learning and Motor Control Lab University of Southern California Los Anleles California Autonomous Motion Department Max Planck Institute for Intelligent Systems Tuebingen Germany
Humanoid robots operating in human environments require whole-body controllers that can offer precise tracking and well-defined disturbance rejection behavior. In this contribution, we propose an experimental evaluati... 详细信息
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Robot arm pose estimation through pixel-wise part classification
Robot arm pose estimation through pixel-wise part classifica...
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IEEE International Conference on Robotics and Automation (ICRA)
作者: Jeannette Bohg Javier Romero Alexander Herzog Stefan Schaal Autonomous Motion Department Perceiving Systems Max-Planck-Institute for Intelligent Systems Tübingen Germany Computational Learning and Motor Control lab University of Southern California Los Angeles CA USA
We propose to frame the problem of marker-less robot arm pose estimation as a pixel-wise part classification problem. As input, we use a depth image in which each pixel is classified to be either from a particular rob... 详细信息
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State Estimation for a Humanoid Robot
State Estimation for a Humanoid Robot
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IEEE/RSJ International Conference on Intelligent Robots and Systems
作者: Nicholas Rotella Michael Bloesch Ludovic Righetti Stefan Schaal Computational Learning and Motor Control Lab University of Southern California Los Angeles California Autonomous Systems Lab ETH Zurich Zurich Switzerland Autonomous Motion Department Max Planck Institute for Intelligent Systems Tuebingen Germany
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in prior work ... 详细信息
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