29documents trouvés
Dynamic motion capture and edition using a stack of tasks
O.RAMOS PONCE, L.SAAB, S.HAK, N.MANSARD
GEPETTO
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Bled (Slovénie), 26-28 Octobre 2011, pp.224-230 , N° 11430
Lien : http://hal.archives-ouvertes.fr/hal-00600959/fr/
Diffusable
Plus d'informations
Abstract
This paper presents a complete methodology to quickly reshape a dynamic motion demonstrated by a human and to adapt the dynamics of the human to the dynamics of the robot. The method uses an inverse dynamics control scheme with a quadratic programming optimization solver. The motion data recorded using a motion capture system is introduced into the control scheme as a reference posture task to be followed by the joints trajectory respecting the dynamic limitations as well as the contact constraints. The motion is further modified using arbitrary tasks to let the robot imitate the original motion more closely or to make voluntary changes for aesthetic reasons. The results show the method applied to the humanoid robot HRP-2 imitating a human "pop dance".
Generic dynamic motion generation with multiple unilateral constraints
L.SAAB, O.RAMOS PONCE, N.MANSARD, P.SOUERES, J.Y.FOURQUET
ENIT Tarbes, GEPETTO
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco (USA), 25-30 Septembre 2011, 8p. , N° 11678
Diffusable
126041Analysis of the discontinuities in prioritized tasks-space control under discrete task scheduling operations
F.KEITH, P.B.WIEBER, N.MANSARD, A.KHEDDAR
LIRMM, INRIA Rhône-Alpes, GEPETTO, AIST
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco (USA), 25-30Septembre 2011, 6p. , N° 11635
Lien : http://hal.inria.fr/hal-00649287/fr/
Diffusable
Plus d'informations
Abstract
This paper examines the control continuity in hierarchical task-space controllers. While the continuity is ensured for any a priori fixed number of tasks -even in ill-conditioned configurations-, the control resulting from a hierarchical stack-of-task computation may not be continuous under some discrete events. In particular, we study how the continuity of the stack-of-task control computation is affected under discreet scheduling operations such as on-the-fly priority switching between tasks, or tasks insertion and removal, which changes the number of tasks in the stack controller. Different ways to formulate a hierarchy of tasks are presented together with their continuity properties, which is thoroughly analyzed under such discreet scheduling operations.
RT-SLAM: A generic and real-time visual SLAM implementation
C.ROUSSILLON, A.GONZALEZ, J.SOLA, J.M.CODOL, N.MANSARD, S.LACROIX, M.DEVY
RIS, RAP, GEPETTO
Ouvrage (contribution) : Computer Vision Systems, Lecture Notes in Computer Science, 6962, Springer, 222p., N°ISBN 978-3-642-23967-0, Septembre 2011, pp.31-40 , N° 11722
Lien : http://hal.archives-ouvertes.fr/hal-00662647
Diffusable
Plus d'informations
Abstract
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.
RT-SLAM: A generic and real-time visual SLAM implementation
C.ROUSSILLON, A.GONZALEZ, J.SOLA, J.M.CODOL, N.MANSARD, S.LACROIX, M.DEVY
RIS, RAP, GEPETTO
Manifestation avec acte : International Conference on Computer Vision Systems (ICVS'2011), Sophia Antipolis (France), 20-22 Septembre 2011, pp.31-40 , N° 11722
Lien : http://hal.archives-ouvertes.fr/hal-00662647
Diffusable
Plus d'informations
Abstract
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.
Intermediate desired value approach for continuous transition among multiple tasks of robots
J.LEE, N.MANSARD, J.PARK
Séoul, GEPETTO
Manifestation avec acte : IEEE International Conference on Robotics and Automation (IEEE ICRA 2011), Shanghai (Chine), 9-13 Mai 2011, 7p. , N° 11745
Lien : http://hal.archives-ouvertes.fr/hal-00667212
Diffusable
Plus d'informations
Abstract
As the capability of robots is getting improved, more various tasks are expected to be performed by the robots. Complex operation of the robots can be composed of many different tasks. These tasks are executed sequentially, simultaneously, or in a combined way of both. This paper discusses the transition issue among multiple tasks on how the transition can be effectively and smoothly achieved. The proposed approach is to compose intermediate desired values to smooth the transitions rather than to modify control laws. The approach can be practically used on robotic systems without modification on their specific control algorithms. In this paper, multi-points control and joint limit avoidance are performed as applications of the proposed approach.
Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints
L.SAAB, N.MANSARD, F.KEITH, J.Y.FOURQUET, P.SOUERES
GEPETTO, LIRMM, ENIT Tarbes
Manifestation avec acte : IEEE International Conference on Robotics and Automation (IEEE ICRA 2011), Shanghai (Chine), 9-13 Mai 2011, 6p. , N° 11679
Diffusable
126043Humanoid robot task recognition from movement analysis
S.HAK, N.MANSARD, O.STASSE
GEPETTO, AIST
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2010), Nashville (USA), 6-8 Décembre 2010, pp.314-321 , N° 10846
Diffusable
123739Fast resolution of hierarchized inverse kinematics with inequality constraints
A.ESCANDE, N.MANSARD, P.B.WIEBER
CEA LIST, GEPETTO, INRIA Rhône-Alpes
Manifestation avec acte : International Conference on Robotics and Automation (ICRA 2010), Anchorage (USA), 3-8 Mai 2010, pp.3733-3738 , N° 10175
Lien : http://hal.archives-ouvertes.fr/hal-00484853/fr/
Diffusable
121424Unification of task identification and control for a humanoid robot
S.HAK, N.MANSARD, O.STASSE
AIST, GEPETTO
Rapport LAAS N°10226, Mai 2010, 7p.
Diffusable
121217