198documents trouvés
Motion planning algorithms for safe and legible manipulator trajectories
T.SIMEON, J.CORTES, E.A.SISBOT, M.GHARBI, J.MAINPRICE, R.ALAMI
RIS
Rapport de Contrat : Projet Européen PHRIENDS. FP6-045359, Novembre 2008, 13p. , N° 08864
Diffusion restreinte
118808Geometric tools for perspective taking for human-robot interaction
L. F.MARIN URIAS, E.A.SISBOT, R.ALAMI
RIS
Manifestation avec acte : Mexican International Conference on Artificial Intelligence (MICAI 2008), Mexico (Mexique), 27-31 Octobre 2008, 11p. , N° 08348
Diffusable
116220A study of interaction between dialog and decision for human-robot collaborative task achievement
A.CLODIC, R.ALAMI, V.MONTREUIL, S.LI, B.WREDE, A.SWADZBA
RIS, Lancaster Univ., BIELFELD
Manifestation avec acte : RO-MAN 2007 - International Symposium on Robot and Human Interactive Communication, Jeju Island (Korée), 26-29 Août 2008 , N° 07830
Diffusable
118065Guiding and transportation review report. D8.1. Experiment 1
M.WARNIER, R.ALAMI, M.HERRB
RIS, 2I
Rapport de Contrat : Projet URUS. FP6-045062, Août 2008, 34p. , N° 08865
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118812Shary: a supervision system adapted to Human-Robot Interaction
A.CLODIC, Q.CAO, S.ALILI, V.MONTREUIL, R.ALAMI, R.CHATILA
RIS
Manifestation avec acte : ISER'08 - 11th International Symposium on Experimental Robotics, Athènes (Grèce), 14-17 Juillet 2008 , N° 08850
Diffusable
118061Whole-body motion planning for pivoting based manipulation by humanoids
E.YOSHIDA, M.POIRIER, J.P.LAUMOND, O.KANOUN, F.LAMIRAUX, R.ALAMI, K.YOKOI
AIST, GEPETTO, RIS
Manifestation avec acte : IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena (USA), 19-23 Mai 2008, pp.3181-3186 , N° 08128
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Plus d'informations
Abstract
This paper emphasizes on the capacity of a humanoid robot to perform tasks that are difficult for other types of robots. It deals with manipulation of bulky objects. Such tasks require complicated manipulations involving the whole-body and line coordination between legs, arms and torso motions. We introduce here a whole-body motion planner that allows a humanoid robot to autonomously plan a pivoting strategy that accounts for the various constraints: collision avoidance, legs-arms coordination and stability control. Based on a previous result by the authors [1] proving the small-time controllability of a pivoting system, the planner is proven to inherit from the probabilistic completeness of the sampling- based motion planning method it is built on. The geometric and kinematic capacity of the proposed planner is mainly demonstrated through simulations and experiments.
Cogniron. D6.2007. Updated deliverable on intentionality and initiative for a cognitive robot.
R.ALAMI, R.CHATILA, A.CLODIC, V.MONTREUIL
RIS
Rapport de Contrat : Projet COGNIRON. FP6-IST-002020, Avril 2008, 37p. , N° 08867
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118822Cogniron. D7-2007. RA7 joint deliverable
R.ALAMI, R.CHATILA, A.CLODIC, S.FLEURY, M.HERRB, E.A.SISBOT
RIS, 2I
Rapport de Contrat : Projet COGNIRON. FP6-IST-002020, Avril 2008, 83p. , N° 08868
Diffusable
118824Cogniron. D3.2007. Social behaviour and embodied interaction
R.ALAMI, E.A.SISBOT, L. F.MARIN URIAS
RIS
Rapport de Contrat : Projet COGNIRON. FP6-IST-002020, Avril 2008, 69p. , N° 08866
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118820Supervision and motion planning for a mobile manipulator interacting with humans
E.A.SISBOT, M.RANSAN, A.CLODIC, R.ALAMI
RIS
Manifestation avec acte : Third ACM/IEEE International Conference on Human-Robot Interaction, Amsterdam (Pays Bas), 12-15 Mars 2008, pp.327-334 , N° 07489
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Plus d'informations
Abstract
Human Robot collaborative task achievement requires adap- ted tools and algorithms for both decision making and mo- tion computation. The human presence as well as its be- havior must be considered and actively monitored at the decisional level for the robot to produce synchronized and adapted behavior. Additionally, having a human within the robot range of action introduces security constraints as well as comfort considerations which must be taken into ac- count at the motion planning and control level. This pa- per presents a robotic architecture adapted to human robot interaction and focuses on two tools: a human aware ma- nipulation planner and a supervision system dedicated to collaborative task achievement.