19documents trouvés
A biped walking pattern generator based on "Half-Steps" for dimensionality reduction
N.PERRIN, O.STASSE, F.LAMIRAUX, E.YOSHIDA
GEPETTO, AIST
Manifestation avec acte : IEEE International Conference on Robotics and Automation (IEEE ICRA 2011), Shanghaï (Chine), 9-13 Mai 2011, pp.1270-1275 , N° 11240
Lien : http://hal.archives-ouvertes.fr/hal-00593659/fr/
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Abstract
We present a new biped walking pattern generator based on "half-steps". Its key features are a) a 3-dimensional parametrization of the input space, and b) a simple homotopy that efficiently smooths the gait trajectory corresponding to a fixed sequence of steps. We show how these features can be ideally combined in the framework of sampling-based gait planning. We apply our approach to the robot HRP-2 and are able to quickly produce smooth and dynamically stable trajectories that are solutions to a difficult problem of gait planning.
Humanoid 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
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123739Unification of task identification and control for a humanoid robot
S.HAK, N.MANSARD, O.STASSE
AIST, GEPETTO
Rapport LAAS N°10226, Mai 2010, 7p.
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121217Approximation of feasibility tests for reactive walk on HRP-2
N.PERRIN, O.STASSE, F.LAMIRAUX, E.YOSHIDA
GEPETTO, AIST
Manifestation avec acte : International Conference on Robotics and Automation (ICRA 2010), Anchorage (USA), 4-8 Mai 2010, pp.4243-4248 , N° 10074
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121557Approximation of feasibility tests for reactive walk on HRP-2
N.PERRIN, O.STASSE, F.LAMIRAUX, E.YOSHIDA
GEPETTO, AIST
Rapport LAAS N°10187, Mars 2010, 6p.
Lien : http://hal.archives-ouvertes.fr/hal-00455454/fr/
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120974Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction
O.STASSE, P.EVRARD, N.PERRIN, N.MANSARD, A.KHEDDAR
AIST, GEPETTO
Manifestation avec acte : 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids 09), Paris (France), 7-10 Décembre 2009, pp.284-289 , N° 09912
Lien : http://hal.archives-ouvertes.fr/hal-00507141/fr/
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122176Intercontinental, multimodal, wide-area tele-cooperation using a humanoid robot
P.EVRARD, O.STASSE, N.MANSARD, A.KHEDDAR
AIST, GEPETTO
Manifestation avec acte : International Conference on Intelligent Robots and Systems (IROS 2009), Saint Louis (Etats-Unis), 11-15 Octobre 2009 , pp.5635-5640 , N° 09471
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119245A Versatile Generalizes Inverted Kinematics Implementation for Collaborative Humanoid Robots : The Stack of Taks
N.MANSARD, O.STASSE, J.M.EVRARD, A.KHEDDAR
GEPETTO, AIST, LIRMM
Manifestation avec acte : ICAR 2009 - International Conference on Robotics and Automation, Munich (Allemagne), 22-26 Juin 2009 , N° 09338
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118021"Give me the purple ball" - he said to HRP-2 N.14
E.YOSHIDA, A.MALLET, F.LAMIRAUX, O.KANOUN, O.STASSE, M.POIRIER, P.F.DOMINEY, J.P.LAUMOND, K.YOKOI
GEPETTO, AIST, ISC CNRS
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots (Humanoids 07), Pittsbugh (USA), 29 Novembre - 1er décembre 2007, 7p. , N° 07450
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Abstract
This paper reports current experiments conducted on HRP-2 based research on robot autonomy. The contribution of the paper is not focused on a specific area but its objective is to highlight the critical issues that had to be solved to allow the humanoid robot HRP-2 to understand and execute the order "give me the purple ball" in an autonomous way. Such an experiment requires: simple object recognition and localization, motion planning and control, natural spoken language supervision, simple action supervisor and control architecture.