Philippe Fraisse

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My research interests are focused on modeling and control applied to robotic and rehabilitation fields. My research activities about the robotic fields is mainly dedicated on two-arm and humanoid robot, robust position/force control algorithms for mobile manipulator. I am involved in the DEMAR Project Team in which I am currently working on the muscle control algorithm development dedicated to paraplegic patients. I developed a new concept based on instrumented walker in order to give to patients the control of their lower limbs. The other aspects of my research activities are presented in the IDH Project Team in which I focus my efforts on kinematic modeling, safe motion planning and two-arm control strategy dedicated to Humanoid robot for assistive robotics.

I am also involved in the French Research Group in Robotics as co-leader of the WG7 (Working Group 7: Humanoid Robots). I co-organize the French Workshop on Humanoid Robotics named JNRH (Journées Nationales de la Robotique Humanoïde). See the websites: JNRH'07, JNRH'08, JNRH'09, JNRH'10.

Keywords: humanoid robots, two arms robots, mobile manipulator, networked robot, teleoperation, rehabilitation, FES, muscle control.

 

@WALK Project (2010-2012)


@WALK (ArTificial WALKing) is a collaborative project supported by INRIA for researchers and students exchanges between DEMAR Project-Team and the Robotics Lab of Stanford University. French Coordinator: Pr. P. Fraisse (LIRMM), Université Montpellier 2, France, Partner Coordinator: Pr. O. Khatib (Robotics Lab), Stanford University, USA

Scientific goals of the proposal

Overall Objectives

The motivation approach is the complementary research works of these teams. Indeed, a collaborative project should give an additional value to their research results. On one hand, the DEMAR Project Team has experience in Functional Electrical Stimulation to restore or modulate movements on spinal cord injured patients and post stroke patients. In both pathologies researches on assisted gait using FES (for paraplegics with a walker and hemiplegics) are carried out in the team (cf. Figure 1).


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Figure 1: (a) Paraplegic patient walking under FES, (b) Implanted FES stimulator


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News from IEEE IROS'2009

Finalist Robocup Best Paper Award, IEEE IROS'2009:

S. Lengagne, N. Ramdani, P. Fraisse, Planning and Fast Re-Planning of Safe Motions for Humanoid Robots: Application to a Kicking Motion, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, October 11-15th, Saint Louis, USA.

Abstract: Optimal motions are usually used as joint reference trajectories for repetitive or complex motions. In the case of soccer robots, the kicking motion is usually a benchmark motion, computed off-line, without taking into account the current position of the robot or the direction of the goal. Moreover, robots must react quickly to any situation, even if not expected, and cannot spend time to generate a new optimal motion by the classical way. Therefore, we propose a new method for fast motion re-planning based on an off-line computation of a feasible sub-set of the motion parameters, using Interval Analysis.

 

 



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Project Teams

IDH
Interactive Digital Human
DEMAR
Artificial Walking project