Skip to content

Latest commit

 

History

History
28 lines (15 loc) · 1.71 KB

README.md

File metadata and controls

28 lines (15 loc) · 1.71 KB
Raw

exercise4_force

An approach for modulating a dynamical system (DS) for contact force generation along a surface [1].

Installing the exercise

Run the script setup_demo.m

Compatibility: These exercise scripts have been tested in Matlab versions 2015a - 2018a.

Running the gui for exercise sessions

  • modulated_ds_interface.m: Brings up a GUI for the simulation of force generation with dynamical systems as proposed in [1]. With this GUI you can learn a model of a surface and simulate the task of generating a desired contact force along the surface.

A guided video explaining how to use the GUI, can be found in this link

  • modulated_ds_interface(1,0,1).m: Brings up a GUI that loads a pre-learned surface model and applies a single continuous perturbation during the execution of the task [1].

A guided video explaining how to use the GUI, can be found in this link

References

[1] Amanhoud, W., Khoramshahi, M. and Billard, A. (2019) A Dynamical System Approach to Motion and Force Generation in Contact Tasks. In Proceedings of Robotics, Science and Systems (RSS). [Accepted].

Contact: Walid Amanhoud (walid.amanhoud AT epfl dot ch) or Nadia Figueroa (nadia.figueroafernandez AT epfl dot ch)