ICRA 2011: Towards a Cooperative Framework for Interactive Manipulation Involving a Human and a Humanoid

  • [PDF] [DOI] B. V. Adorno, A. P. L. Bo, P. Fraisse, and P. Poignet. Towards a cooperative framework for interactive manipulation involving a human and a humanoid. In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages 3777-3783, may 2011.
    [Bibtex] 
    @INPROCEEDINGS{2011-icra-bva,
author={Adorno, B.V. and Bo, A.P.L. and Fraisse, P. and Poignet, P.},
booktitle={Robotics and Automation (ICRA), 2011 IEEE International Conference on}, title={Towards a cooperative framework for interactive manipulation involving a human and a humanoid},
year={2011},
month={may},
volume={},
number={},
pages={3777 -3783},
keywords={iros, cooperative framework;human hand;humanoid robot hand;interactive manipulation;mirrored movement;simultaneous handling;force control;human-robot interaction;humanoid robots;interactive systems;manipulators;service robots;},
doi={10.1109/ICRA.2011.5979787},
ISSN={1050-4729}
}
We propose a novel approach for interactive manipulation involving a human and a humanoid. The interaction is represented by means of the relative configuration between the human’s and the robot’s hands. Based on this principle and a set of mathematical tools also proposed in the paper, a large set of tasks can be represented intuitively. We also introduce the concept of simultaneous handling using mirrored movements, where the human controls the robot and simultaneously interacts with it by means of a common manipulated object. Illustrative experiments are performed to validate the proposed techniques.

Posted on May 20, 2011 by fraisse | Comments Off on ICRA 2011

@WALK

Posted on August 20, 2010 by fraisse

This gallery contains 5 photos.

Associated-Team: @WALK / ArTificial WALKing @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: … Continue reading →

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IROS 2009: Planning and Fast Re-Planning of Safe Motions for Humanoid Robots: Application to a Kicking Motion

Finalist Robocup Best Paper Award, IEEE IROS’2009:

S. Lengagne, N. Ramdani, P. Fraisse,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.

Posted on September 20, 2009 by fraisse | Comments Off on IROS 2009