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5 results (View BibTeX file of all listed publications)

2006

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Movement generation using dynamical systems : a humanoid robot performing a drumming task

Degallier, S., Santos, C. P., Righetti, L., Ijspeert, A.

In 2006 6th IEEE-RAS International Conference on Humanoid Robots, pages: 512-517, IEEE, Genova, Italy, 2006 (inproceedings)

Abstract
The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical systems for generating trajectories online and in real time. Our goal is to make use of attractor properties of dynamical systems in order to provide robustness against small perturbations and to enable online modulation of the trajectories. The system is demonstrated on a humanoid robot performing a drumming task.

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link (url) DOI [BibTex]

2006

mg Degallier, S., Santos, C. P., Righetti, L., Ijspeert, A. Movement generation using dynamical systems : a humanoid robot performing a drumming task In 2006 6th IEEE-RAS International Conference on Humanoid Robots, pages: 512-517, IEEE, Genova, Italy, 2006 (inproceedings)

link (url) DOI [BibTex]

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Design methodologies for central pattern generators: an application to crawling humanoids

Righetti, L., Ijspeert, A.

In Proceedings of Robotics: Science and Systems, Philadelphia, USA, August 2006 (inproceedings)

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link (url) DOI [BibTex]

mg Righetti, L., Ijspeert, A. Design methodologies for central pattern generators: an application to crawling humanoids In Proceedings of Robotics: Science and Systems, Philadelphia, USA, August 2006 (inproceedings)

link (url) DOI [BibTex]

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Programmable central pattern generators: an application to biped locomotion control

Righetti, L., Ijspeert, A.

In Proceedings of the IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pages: 1585-1590, IEEE, 2006 (inproceedings)

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[BibTex]

mg Righetti, L., Ijspeert, A. Programmable central pattern generators: an application to biped locomotion control In Proceedings of the IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pages: 1585-1590, IEEE, 2006 (inproceedings)

[BibTex]

2004

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Operating system support for interface virtualisation of reconfigurable coprocessors

Vuletic, M., Righetti, L., Pozzi, L., Ienne, P.

In In Proceedings of the Design, Automation and Test in Europe Conference and Exhibition, pages: 748-749, IEEE, Paris, France, 2004 (inproceedings)

Abstract
Reconfigurable systems-on-chip (SoC) consist of large field programmable gate arrays (FPGAs) and standard processors. The reconfigurable logic can be used for application-specific coprocessors to speedup execution of applications. The widespread use is limited by the complexity of interfacing software applications with coprocessors. We present a virtualization layer that lowers the interfacing complexity and improves the portability. The layer shifts the burden of moving data between processor and coprocessor from the programmer to the operating system (OS). A reconfigurable SoC running Linux is used to prove the concept.

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link (url) DOI [BibTex]

2004

mg Vuletic, M., Righetti, L., Pozzi, L., Ienne, P. Operating system support for interface virtualisation of reconfigurable coprocessors In In Proceedings of the Design, Automation and Test in Europe Conference and Exhibition, pages: 748-749, IEEE, Paris, France, 2004 (inproceedings)

link (url) DOI [BibTex]

2003

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Evolution of Fault-tolerant Self-replicating Structures

Righetti, L., Shokur, S., Capcarre, M.

In Advances in Artificial Life, pages: 278-288, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2003 (inproceedings)

Abstract
Designed and evolved self-replicating structures in cellular automata have been extensively studied in the past as models of Artificial Life. However, CAs, unlike their biological counterpart, are very brittle: any faulty cell usually leads to the complete destruction of any emerging structures, let alone self-replicating structures. A way to design fault-tolerant structures based on error-correcting-code has been presented recently [1], but it required a cumbersome work to be put into practice. In this paper, we get back to the original inspiration for these works, nature, and propose a way to evolve self-replicating structures, faults here being only an idiosyncracy of the environment.

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link (url) DOI [BibTex]

2003

mg Righetti, L., Shokur, S., Capcarre, M. Evolution of Fault-tolerant Self-replicating Structures In Advances in Artificial Life, pages: 278-288, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2003 (inproceedings)

link (url) DOI [BibTex]