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09/13/2023
Exp[licit]-A Robot modeling Software based on Exponential Maps
Deriving a robot's equation of motion typically requires placing multipl...
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02/13/2023
Finite element hybridization of port-Hamiltonian systems
In this contribution, we extend the hybridization framework for the Hodg...
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01/30/2023
Passivizing learned policies and learning passive policies with virtual energy tanks in robotics
Within a robotic context, we merge the techniques of passivity-based con...
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12/29/2022
Discovering Efficient Periodic Behaviours in Mechanical Systems via Neural Approximators
It is well known that conservative mechanical systems exhibit local osci...
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02/09/2022
Dual field structure-preserving discretization of port-Hamiltonian systems using finite element exterior calculus
In this paper we propose a novel approach to discretize linear port-Hami...
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07/08/2021
Towards Autonomous Pipeline Inspection with Hierarchical Reinforcement Learning
Inspection and maintenance are two crucial aspects of industrial pipelin...
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07/04/2021
Low Dimensional State Representation Learning with Robotics Priors in Continuous Action Spaces
Autonomous robots require high degrees of cognitive and motoric intellig...
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06/20/2021
Image-guided Breast Biopsy of MRI-visible Lesions with a Hand-mounted Motorised Needle Steering Tool
A biopsy is the only diagnostic procedure for accurate histological conf...
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07/29/2020
Low Dimensional State Representation Learning with Reward-shaped Priors
Reinforcement Learning has been able to solve many complicated robotics ...
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02/10/2020