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Intention recognition through decoding brain activity could lead to a powerful and independent Brain-Computer-Interface (BCI) allowing for intuitive control of devices like robots. A common strategy for realizing such a system is the motor imagery (MI) BCI using electroencephalography (EEG). Changing to invasive recordings like electrocorticography (ECoG) allows extracting very robust features and...
This paper deals with a novel solution for humanoid robots stepping over motion. It covers kinematics and dynamics problem, on the development of dynamically stable stepping over motion around an obstacle of any dimensions and configuration, between two generic footprints. The approach is solved taking into account the geometric constraints, by the use of oriented bounding boxes (OBB), the ZMP based...
We propose a new computational model describing the motion imitation by humans, and which parallels the direct matching hypothesis in Neuroscience. To illustrate our computational model, we present a scheme where a robot imitates another robot achieving stepping motions on horizontal plane. The idea is to map an observed action onto the robot's motor representation of the same action: the motion controller...
We present a multi-contact motion planning method that generates dynamic joint trajectories for multi-body robots that satisfy a set of continuous constraints. We highlight two variants when it comes to generate a single-contact or a multi-contact motion: the presence of the continuous equality geometrical constraints and of the contact forces. In this work, we compute the free-flyer trajectory and...
In this paper we solve the static-equilibrium constrained inverse kinematics problem for a system made of multiple humanoid robots and manipulated objects given a set of contacts between any surfaces of the robots, any surfaces of the manipulated objects, and any surfaces of the environment. In particular, inter-robots contacts are possible. The contacts considered here are neither necessarily coplanar,...
This paper proposes a new computation method to solve semi-infinite optimization problems for motion planning of robotic systems. Usually, this problem is solved by means of time-grid discretization of the continuous constraints. Unfortunately, discretization may lead to unsafe motions since there is no guarantee of constraint satisfaction between time samples. First, we show that constraints such...
This paper presents the application of a statistical framework that allows to endow a humanoid robot with the ability to perform a collaborative manipulation task with a human operator. We investigate to what extent the dynamics of the motion and the haptic communication process that takes place during physical collaborative tasks can be encapsulated by the probabilistic model. This framework encodes...
In this paper we present a different strategy for generating the trajectory of the swinging leg for a walking humanoid robot which takes into account the effects due to acceleration and velocities of the joints onto the center of mass of the robot. The trajectory of the leg is chosen to be constituted by two forth order polynomials interlaced by a via-point which satisfies the optimality criterium...
In this paper a system allowing real-time interaction between a human and a humanoid robot while walking is presented. The aim of this work is to integrate humanoid robots into collaborative working environment. Co-located realization of a task is one instance of such collaboration. To achieve such task whole-body motion generation while keeping balance is mandatory. This is obtained using a real-time...
We propose a solution which combines haptic sensing with safe interaction, at low cost. Contact locations are made through a flexible sheet of tactile binary switch matrix. This sheet covers the surface of a rigid bumper module assembled to the robot's basic link through a distributed pressure sensing units. Combination of location and force provides the haptic sensing module. The haptic system is...
This paper extends our previous work on contact points planning in two ways. First, by taking advantage of the possibilities offered by our initial posture generator, we include additional tasks that are not related to locomotion within the planning. The output motion will be generated so as to cope with these tasks. Second, we refine the potential function that guides the planner by introducing potential...
This video illustrates our work on contact points planning and its recent enhancement by two new functionalities. First, by taking advantage of the possibilities offered by our initial posture generator, we include additional tasks in the planning that are not related to locomotion. Second, we refine the potential function that guides the planner so as to cope with more challenging scenarios. We then...
This paper presents a method for sequencing a set of robotic tasks in an optimal way. Tasks description and execution are based on the task-function approach, which enables to build complex whole-body behaviors from local control laws. A naive solution to this problem would be to schedule the execution of the tasks sequentially, avoiding concurrency. This solution does not exploit full robot capabilities...
This paper is the continuation of our previous work in intercontinental, collaborative teleoperation with a humanoid robot. Our new achievement consists in an extension of the former single-arm bilateral teleoperation setting to include bimanual manipulation and walking. A coupling scheme for simultaneous manipulation and locomotion is developed. Furthermore, a task-based control framework, including...
This paper presents a model that describes physical interactions during dyadic collaborative tasks. This model is based on a homotopy between two controllers and defines the behavior of each partner as the result of a time-varying balance between two roles: the leader role, which consists in acting according to a plan without considering the other partner's intentions; and the follower role, which...
We propose a simple, yet efficient, patterning technique for Interpenetrated Networks of Conducting Polymers (IPN-CP), which is a class of conducting polymer actuators that are able to work in liquids as well as in the air without delamination. Engineering and integration of IPN-CP in potential systems or devices have not been thoroughly studied, and no solution for patterning has been developed so...
This paper deals with the design and control of a haptic device to be used in a minimally invasive surgery simulator. Replicating haptic cues is of special interest since it is used in gesture motor control and important decision-making scenarios such as the discrimination of healthy versus abnormal tissues, identification of organs, etc. The structure of this new device is based on real motions of...
A significant amelioration of our previous work is presented aiming at building autonomously visual models of unknown objects, with a humanoid robot. Previously we introduced a Next-Best-View solution using two stages: (i) an optimization algorithm without derivatives finds a camera pose maximizing the amount of unknown data visible, and (ii) a whole robot posture is generated with a different optimization...
A novel approach is presented which aims at building autonomously visual models of unknown objects, using a humanoid robot. Previous methods have been proposed for the specific problem of the next-best-view during the modeling and the recognition process. However our approach differs as it takes advantage of humanoid specificities in terms of embedded vision sensor and redundant motion capabilities...
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