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350documents trouvés

17018
10/02/2017

Formation Doctorale "Éthique de la recherche et Intégrité scientifique": Une formation proposée par l'école des docteurs de Toulouse

C.TESSIER, F.VIALLET, A.MARY, B.TONDU, L.BAUDOUIN, P.DUCOURNAU, I.QUEINNEC, G.MOCHEL, C.VARENNE, N.DESSENS

ONERA, EFTS, LIRCES, Nice, GEPETTO, MAC, LISST, Toulouse, URFIST-UFTMIP, TRACES, UT2J

Rapport LAAS N°17018, Février 2017, 56p.

Lien : https://hal.archives-ouvertes.fr/cel-01452867

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Résumé

Les écoles doctorales du site toulousain ont demandé fin 2015 que l’École Des Docteurs pilote un groupe de travail permettant de développer une formation à « l’Éthique de la Recherche et à l’intégrité scientifique ». Un groupe de chercheurs et d’enseignants-chercheurs, identifiés grâce à un appel à participation diffusé dans les écoles doctorales toulousaines, a développé un « kit de formation » comprenant : un diaporama support de cours, des propositions de dilemmes éthiques formatés et ce guide pratique à destination des formateurs. Ces documents sont inspirés du Cahier « Proposition de formation doctorale ; Initiation à l’éthique de la recherche scientifique » de la CERNA (Commission de réflexion sur l’Éthique de la Recherche en sciences et technologies du Numérique d’Allistene), des propositions des différents acteurs du groupe de travail, issus de disciplines diverses et du retour d’expérience des 8 premières journées de formation données à des groupes de doctorants issus de différentes écoles doctorales . L’Université de Toulouse est la première en France où cette formation est dispensée de manière transversale à tous les doctorants. Les échanges interdisciplinaires (entre formateurs et entre étudiants) sont particulièrement fructueux pour la dynamique de formation, qui se doit d’être participative. Cette formation est donnée en binôme, chaque binôme comprenant un intervenant issu des disciplines science, technologie, santé, ingénierie et un intervenant issu des sciences humaines et sociale, droit économie, gestion. Pendant l’année universitaire 2015-2016, cette formation a été testée lors de 4 sessions. Elle a été reconduite à plus grande échelle pour l’année universitaire 2016-2017, avec des binômes « ancien formateur/nouveau formateur », permettant ainsi d’assurer la formation des formateurs tout en conservant la cruciale complémentarité disciplinaire. À ce jour sur le site toulousain, ce sont donc une douzaine d’intervenants chercheurs, enseignants-chercheurs, ingénieurs et personnels techniques de recherche et de formation qui ont formé plus de 130 doctorants de disciplines et horizons différents.

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16496
27/01/2017

Continuous legged locomotion planning

N.PERRIN, C.OTT, J.ENGLSBERGER, O.STASSE, F.LAMIRAUX, D.G.CALDWELL

ISIR, Jussieu, DLR, GEPETTO, IIT, Genova

Rapport LAAS N°16496, doi 10.1109/TRO.2016.2623329, Janvier 2017, 7p.

Lien : http://hal.upmc.fr/hal-01433866

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Abstract

While only continuous motions are possible, the way contacts appear and disappear confers to legged locomo-tion a characteristic discontinuous nature that is traditionally shared by the algorithms used for legged locomotion planning. In this paper we show that this discontinuous nature can disappear if the notion of collision is well redefined, and we efficiently solve two different practical problems of legged locomotion planning with algorithms based on an approach that establishes a bridge between discrete and continuous planning. The first problem consists of reactive footstep planning with a biped robot, and the second one of non-gaited locomotion planning with a hexapod.

138684
17002
26/01/2017

Spray-coated carbon nanotube carpets for creeping reduction of conducting polymer based artificial muscles

A.SIMAITE, A.DELAGARDE, B.TONDU, P.SOUERES, E.FLAHAUT, C.BERGAUD

MEMS, ELIA, GEPETTO, CIRIMAT

Revue Scientifique : Nanotechnology, Vol.28, N°2, 025502p., Janvier 2017 , N° 17002

Lien : https://hal.laas.fr/hal-01413022

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Abstract

It is often observed that during cyclic actuation conducting polymer based artificial muscles are continuously creeping from the initial movement range. One of the likely reasons of such behaviour is unbalanced charging during conducting polymer oxidation and reduction. In order to improve the actuation reversibility and subsequently the long time performance of ionic actuators, we suggest to use spray-coated carbon nanotube (CNT) carpets on the surface of the conducting polymer electrodes. We show that carbon nanotubes facilitate conducting polymer redox reaction and improve its reversibility. Consequently, in the long term, charge accumulation in the polymer film is avoided leading to significantly improved long term performance during cycling actuation.

138654
16384
01/01/2017

How do walkers avoid a mobile robot crossing their way?

C.VASSALLO, A.H.OLIVIER, P.SOUERES, A.CRETUAL, O.STASSE, J.PETTRE

GEPETTO, M2S, IRISA

Revue Scientifique : Gait & Posture, Vol.51, pp.97-103, Janvier 2017 , N° 16384

Lien : https://hal.archives-ouvertes.fr/hal-01371202

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Abstract

Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision avoidance between a human and a robot during locomotion. Having in mind previous results on human obstacle avoidance, as well as the description of the main principles which guide collision avoidance strategies, we observe how humans adapt a goal-directed locomotion task when they have to interfere with a mobile robot. Our results show differences in the strategy set by humans to avoid a robot in comparison with avoiding another human. Humans prefer to give the way to the robot even when they are likely to pass first at the beginning of the interaction.

138155
15132
01/01/2017

High-slope terrain locomotion for torque-controlled quadruped robots

M.FOCCHI, A.DEL PRETE, I.HAVOUTIS, R.FEATHERSTONE, D.G.CALDWELL, C.SEMINI

IIT, Genova, GEPETTO

Revue Scientifique : Autonomous Robots, Vol.41, N°1, pp.259-272, Janvier 2017 , N° 15132

Lien : https://hal.archives-ouvertes.fr/hal-01137225

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Abstract

Research into legged robotics is primarily motivated by the prospects of building machines that are able to navigate in challenging and complex environments that are predominantly non-flat. In this context, control of contact forces is fundamental to ensure stable contacts and stability of the robot. In this paper we propose a planning/control framework for quasi-static walking of quadrupedal robots, implemented for a demanding application in which regulation of ground reaction forces is crucial. Experimental results demonstrate that our 75-kg quadruped robot is able to walk inside two high-slope (50°) V-shaped walls; an achievement that to the authors' best knowledge has never been presented before. Furthermore, the robot is distributing its weight among the stance legs so as to optimize user-defined criteria. We compute joint torques that result in no foot slippage, fulfillment of the unilateral constraints of the contact forces and minimization of the actuators effort. This paper presents an experimental study that compares the proposed framework with different state-of-the-art control strategies, demonstrating the effectiveness and robustness of our approach.

138957
16479
22/12/2016

Design, modeling and control of inherently compliant actuators with a special consideration on agonist-antagonist anthropomorphic configuration

G.HARI SHANKAR LAL DAS

GEPETTO

Doctorat : 22 Décembre 2016, 140p., Président: P.FRAISSE, Rapporteurs: Y.AOUSTIN, B.VANDERBORGHT, Examinateurs: , Directeurs de thèse: B.TONDU, P.SOUERES, membre invité: O.STASSE , N° 16479

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Abstract

Design, modeling and control of inherently compliant actuators with a special consideration on agonist- antagonist anthropomorphic configuration" The research aims at the design, modeling and control of inherently compliant actuators for anthropomorphic systems. The first part of the work focuses on the study of various existing designs and look for the possibility of alternative actuators other than the conventional electric motors. Special attention is given to elctroactive polymer based soft actuators which have good potential in future robotic applications. In parallel, a model of the actuator dynamics and the model-based controller (MPC and optimal control) have been synthesized for an anthropomorphic 7 Dofs arm actuated by antagonist-agonist pair of Pneumatic Artificial Muscles (PAMs) at each joint. Such model and controller is then integrated within the software environment developed by the team. Using the PAMs based anthropomorphic manipulator arm and the numerical simulator, tests are done in order to evaluate the potential of this actuator and compare with the human body capabilities.

Mots-Clés / Keywords
Pneumatic systems; Mckibben muscles; iLQR control; Nonlinear control; Agonist-antagonist actuation; Bio-inspired robots; Anthropomorphic systems;

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16254
13/12/2016

A simulation framework for simultaneous design and control of passive walkers

G.SAUREL, J.CARPENTIER, J.P.LAUMOND

GEPETTO

Manifestation avec acte : International Conference on Simulation, Modeling, and Programming for Autonomous Robots ( SIMPAR ) 2016 du 13 décembre au 16 décembre 2016, San Francisco (USA), Décembre 2016, 7p. , N° 16254

Lien : https://hal.archives-ouvertes.fr/hal-01360450

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Abstract

In this paper, we propose a simulation framework which simultaneously computes both the design and the control of passive walkers. The problem of computing a design and a control is formulated as a single large-scale parametric optimal control problem on hybrid dynamics with path constraints (e.g. non sliding and non slipping contact constraints). Our framework relies on state-of-the-art numerical optimal control techniques and efficient computation of the multi-body rigid dynamics. It allows to compute both the parametrized model and the control of passive walkers on different scenarios, in only few seconds on a standard computer. The framework is illustrated by several examples which highlight the interest of the approach.

138508
16380
22/11/2016

A wheel at the origin of the center of mass motion in human walking

J.CARPENTIER, M.BENALLEGUE, J.P.LAUMOND

GEPETTO, AIST

Rapport LAAS N°16380, Novembre 2016, 19p.

Lien : https://hal.archives-ouvertes.fr/hal-01377361

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Abstract

The center of mass (CoM) is a key descriptor in the understanding and the analysis of bipedal locomotion. Some approaches are based on the premise that humans minimize the CoM vertical displacement. Other approaches express walking dynamics though the inverted pendulum model. Such approaches are contradictory in that they lead to two conflicting patterns to express the CoM motion: straight line segments for the first approaches and arcs of a circle for the second ones. In this paper we show that CoM motion is a trade-off between both patterns. Specifically CoM follows a " curtate cycloid " , which is the curve described by a point rigidly attached to a wheel rolling on a flat surface. We demonstrate that all the three parameters defining a curtate cycloid only depend on the height of the subjects.

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16344
15/11/2016

Motion generation for pulling a fire hose by a humanoid robot

I.GRAMIREZ-ALPIZAR, M.NAVEAU, C.BENAZETH, O.STASSE, J.P.LAUMOND, K.HARADA, E.YOSHIDA

AIST, GEPETTO, IDEA

Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots ( HUMANOIDS ) 2016 du 15 novembre au 17 novembre 2016, Cancun (Mexique), Novembre 2016, 6p. , N° 16344

Lien : https://hal.archives-ouvertes.fr/hal-01388372

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Abstract

This paper discusses a strategy for a humanoid robot to pull a fire hose while walking towards a desired position and orientation. A hybrid controller on the robot's wrist holding the fire hose is implemented for pulling it. The proposed controller can automatically determine the pulling force according to the robot's walking velocity. Through simulation analysis it is shown that when the robot walks while pulling the fire hose a drift in the walking direction is generated. To cope with this drift and to direct the robot to a desired position and orientation, a walking task is introduced. Using a motion capture system, the robot's chest position and orientation are monitored and feed to the robot's walking pattern generator to correct the orientation drift and to determine where to walk and when to stop walking. Through experimental results the validity of the proposed strategy was confirmed. It is shown that the proposed hybrid controller contributes to the improvement of the robot's balance when walking.

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16339
26/10/2016

Anthropomorphic action in robotics

J.P.LAUMOND

GEPETTO

Rapport LAAS N°16339, Octobre 2016, 5p.

Lien : https://hal.archives-ouvertes.fr/hal-01376765

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Abstract

The word “robot” was first coined in the early 20 th century and the seminal ideas of cybernetics first appeared during World War II The birth of robotics is generally pinpointed to 1961, with the introduction of the first industrial robot on the General Motors assembly line. This “ Unimate ” robot was patented by George Devol and industrialized by Joseph Engelberger, who is recognized as th e founding father of robotics. From its beginning in the 19 60s, to its broad application in the automotive industry by the end of the 19 70s, the field of r obotics has been viewed as a way to improve production in manufacturing by providing a manipulator integrated into a well - structured environment. Stimulated by programs such as space exploration, the 19 80s saw the creation of field robotics, where a robot ’ s environment was no longer closed. However, even then the robot remained in isolation, only interacting with a static world.

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