Exercise Session 2 - Modulation of dynamical systems: Non-contact/contact transitions

The core idea of having this package is to provide a simple and flexible tool for the curious readers to assess the performance of DS based contact controller which was proposed in

Mirrazavi Salehian, S. S. and Billard, A. (2018) A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions. IEEE Robotics and Automation Letters (RA-L).

in different scenarios. You can find the corresponding slides in Here.

Installation Instructions

This package contains a set of submodules. In order to clone the package, just run the following run:

git clone https://github.com/epfl-lasa/icra19-lfd-tutorial-exercises.git
cd icra19-lfd-tutorial-exercises
cd Contact Noncontact transitions

Then just simply run gui_Code.m in Matlab.

Running the GUI

A guided video explaining how to use the GUI, can be found in the following youtube link.

For more information contact Sina Mirrazavi.