Learning Adaptive and Reactive Control for Robots

    Learning Algorithms and Systems Laboratory (LASA), EPFL

This website presents the contents of the course "Learning Adaptive and Reactive Control for Robots" created by Prof. Aude Billard at EPFL. The course focuses on the use of dynamical systems to create reactive control schemes for robotic systems. Whilst based on the Book MIT Press of the same name, the course was adapted to the 13-weeks semester format, with 4h of lessons each week.

The work showcased here is continuously updated in the relevant fields with research advances conducted at LASA.

MIT Press Book

    by Aude Billard, Sina Mirrazavi and Nadia Figueroa

This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can re-plan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills.

Funding

This work has partially received funding from the European Community through the ERC Advanced Grant SAHR (ID:741945). The content of this site is the sole responsibility of the authors. The European Commission or its services cannot be held responsible for any use that may be made of the information it contains.

For any questions or queries contact Aude Billard.