Parsimonious Kinematic Control of Highly Redundant Robots 

(IEEE RA-L, 2016): When a robot is highly redundant in comparison to the task to be executed, current control techniques are not “economic” in the sense that they demand, most of the time unnecessarily, all the joints to move. Such behavior can be undesirable for some applications. In this direction, this work proposes a new control paradigm based on linear programming that intrinsically provides a parsimonious control strategy, that is, one in which few joints move. In addition to a formal stability proof, the paper presents simulation and experimental results on the HOAP-3 humanoid robot. Finally, a comparison is made with a least-square method based on the pseudoinverse of the task Jacobian, showing that the proposed method indeed uses fewer joints than the classic one.

  • [PDF] [DOI] V. Mariano Gonçalves, P. Fraisse, A. Crosnier, and B. V. Adorno. Parsimonious Kinematic Control of Highly Redundant Robots. Ieee robotics and automation letters, (selected for presentation at icra 2016), 1:65-72, January 2016.
    TITLE = {{Parsimonious Kinematic Control of Highly Redundant Robots}},
    AUTHOR = {Mariano Gon{\c c}alves, V. and Fraisse, P. and Crosnier, A. and Adorno, B. V.},
    URL = {},
    JOURNAL = {IEEE Robotics and Automation Letters, (Selected for presentation at ICRA 2016)},
    INSTITUTION = {{LIRMM ; CNRS ; Universit{\'e} de Montpellier ; Universidade Federal Minas Gerais}},
    YEAR = {2016},
    MONTH = {January},
    keywords={redundant systems},
    PDF = {},
    HAL_ID = {lirmm-01198399},
    HAL_VERSION = {v1},

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Kinematic modeling and control for human-robot cooperation considering different interaction roles
(Robotica, 2015)
This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative pose between the human hand and the robot hand. We develop a unified kinematic model that takes into account the human-robot system from a holistic point of view, and we also propose a kinematic control strategy for pHRI that comprises different levels of shared autonomy. Since the kinematic model takes into account the complete human-robot interaction system and the kinematic control law is closed loop at the interaction level, the kinematic constraints of the task are enforced during its execution. Experiments are performed in order to validate the proposed approach, including a particular case where the robot controls the human arm by means of functional electrical stimulation (FES), which may potentially provide useful solutions for the interaction between assistant robots and impaired individuals (e.g., quadriplegics and hemiplegics).

  • [DOI] B. Adorno, A. Bo, and P. Fraisse. Kinematic modeling and control for human-robot cooperation considering different interaction roles. Robotica, pages 1-18, February 2015.
    author={Adorno, B. and Bo, A. and Fraisse, P.},
    journal= {Robotica},
    title={Kinematic Modeling and Control for Human-Robot Cooperation Considering Different Interaction Roles},
    keywords={publier, Human-robot Interactions},

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Multimodal control for human-robot cooperation (IROS’13)

For intuitive human-robot collaboration, the robot must quickly adapt to the human behavior. To this end, we propose a multimodal sensor-based control framework, enabling a robot to recognize human intention, and consequently adapt its control strategy. Our approach is marker-less, relies on a Kinect and on an on-board camera, and is based on a unified task formalism. Moreover, we validate it in a mock-up industrial scenario, where human and robot must collaborate to insert screws in a flank.

  • A. Cherubini, R. Passama, A. Meline, and P. Fraisse. Multimodal control for human-robot cooperation. In Ieee/rsj international conference on intelligent robots and systems (iros), nov 2013.
    author={Cherubini, A. and Passama, R. and Meline, A. and Fraisse, P.},
    booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    title={Multimodal control for human-robot cooperation},
    keywords={iros, Human-Robot Interaction},

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Online Identification and Visualization of the Statically Equivalent Serial Chain via constrained Kalman filter (ICRA’13)

A human’s center of mass (CoM) trajectory is useful to evaluate the dynamic stability during daily life activities such as walking and standing up. To estimate the subject specific CoM position in the home environment, we make use of a statically equivalent serial chain (SESC) developed with a portable measurement system. In this paper we implement a constrained Kalman filter to achieve an online parameter estimation of the SESC parameters while accounting for the human body bilateral symmetry. This results in constraining SESC parameters to be consistent with the human skeletal model used. Kinect is used as a markerless motion capture system for measuring limb orientations while the Wii board is used to measure the subject’s center of pressure (CoP) during the identification phase. CoP measurements and Kinect data were recorded for five able-bodied subjects. The recorded data was then given to the proposed recursive algorithm to identify the parameters of the SESC online.

  • A. Gonzalez, M. Hayashibe, and P. Fraisse. Online identification and visualization of the statically equivalent serial chain via constrained kalman filter. In Ieee international conference on robotics and automation (icra), oct 2013.
    author={Gonzalez, A. and Hayashibe, M. and Fraisse, P.},
    booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
    title={Online Identification and Visualization of the Statically Equivalent Serial Chain via constrained Kalman filter},
    keywords={iros, Human modeling},


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Experimental study on haptic communication of a human in a shared human-robot collaborative task

We aim at addressing in this paper the issue of non-verbal communication involved in a human-robot interaction. We first propose a taxonomy of assistance that an operator may expect from a partner during a long object manipulation task. Then, this paper presents a method to detect which kind of robot assistance is needed, thanks to the decoding of haptic cues conveyed by the operator. An experimental study on thirty subjects moving a long object together with a robot that is providing an assistance is introduced. A statistical analysis highlights the relationships between haptic measures and intentions of motion. This analysis shows that wrench measurements constitute an incomplete information to detect the operator’s intention of motion.

  • J. Dumora, F. Geffard, C. Bidard, T. Brouillet, and P. Fraisse. Experimental study on haptic communication of a human in a shared human-robot collaborative task. In Intelligent robots and systems (iros), 2012 ieee/rsj international conference on, oct 2012.
    author={Dumora, J. and Geffard, F. and Bidard, C. and Brouillet, T. and Fraisse, P.},
    booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on}, title={Experimental study on haptic communication of a human in a shared human-robot collaborative task},

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