198documents trouvés
Provably safe motions strategies for mobile robots in dynamic domains
R.ALAMI, K.MADHAVA KRISHNA, T.SIMEON
RIS
Ouvrage (contribution) : Autonomous navigation in dynamic environments , Springer tracts in advanced robotics 35, Springer, N°ISBN 978-3-540-73421-5, 2007, pp.85-106 , N° 07422
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111126Exploratory Studies of a Robot Approaching a Person in the Context of Handing Over an Object
K.L.KOAY, E.A.SISBOT, D.S.SYRDAL, M.WALTERS, K.DAUTENHAHN, R.ALAMI
Hertfordshire, RIS
Manifestation avec acte : AAAI Spring Symposium, VANCOUVER (Canada), 22-26 Juillet 2007 , N° 07829
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118063Grasp planning: a decomposition approach for arbitrary 3D objects in autonomous robotics
E.LOPEZ DAMIAN, D.SIDOBRE, R.ALAMI
RIS
Rapport LAAS N°07333, Juillet 2007, 12p.
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110720A plan manager for multi-robot systems
S.JOYEUX, R.ALAMI, S.LACROIX
RIS
Manifestation avec acte : The 6th International Conference on Field and Service Robotics, Chamonix (France), 9-12 Juillet 2007, 10p. , N° 07412
Lien : http://hal.archives-ouvertes.fr/hal-00166798/fr/
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Abstract
This paper presents a software component, the plan database, which provides the services needed to build and execute plans in a multi-robot context. This plan database handles fully dynamic plans (insertion and removal of tasks), provides tools for safe concurrent execution and modication of plans, and handles distributed plan supervision without permanent robot-to-robot communication. The proposed concept is illustrated by a simulated example that involves a rover and an UAV in an initially unmapped environment.
Mots-Clés / Keywords
Architecture; Multi-robots;
Distributed Autonomous Robotic System 6
R.ALAMI, R.CHATILA, A.HAJIME
RIS, University of Tokyo
Ouvrage (éditeur) : Springer , N°ISBN: 978-4-431-35869-5, Juin 2007 , N° 07831
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118067Whole-body manipulation by a humanoid using pivoting - Small-time controllability analysis and planning algorithm (article en japonais)
E.YOSHIDA, M.POIRIER, R.ALAMI, J.P.LAUMOND, K.YOKOI
AIST, GEPETTO, RIS
Manifestation avec acte : JSME ROBOMEC 2007, Akita (Japon), 10-12 Mai 2007, 4p. , N° 07779
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Mots-Clés / Keywords
Manipulation; Pivoting; Motion planning; Humanoid;
Cogniron. D6.2006. RA6 joint Deliverable
R.ALAMI, R.CHATILA, A.CLODIC, V.MONTREUIL
RIS
Rapport de Contrat : Projet COGNIRON. FP6-IST-002020, Janvier 2007, 18p. , N° 07842
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118816Cogniron. D3.2006. Joint RA3 deliverable. Social behaviour and embodied interaction
R.ALAMI, E.A.SISBOT, L. F.MARIN URIAS
RIS
Rapport de Contrat : Projet COGNIRON. FP6-IST-002020, Janvier 2007, 28p. , N° 07841
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118814Cogniron D7.2006. 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, Janvier 2007, 59p. , N° 07843
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118818Safe and dependable physical human-robot interaction in anthropic domains: state of the art and challenges
R.ALAMI, A.ALBU-SCHAEFFER, A.BICCHI, R.BISCHOFF, R.CHATILA, A.DE LUCA, A.DE SANTIS, G.GIRALT, J.GUIOCHET, G.HIRZINGER, F.INGRAND, V.LIPPIELLO, R.MATTONE, D.POWELL, S.SEN, B.SICILIANO, G.TONIETTI, L.VILLANI
FEE, DLR, Pise, Kuka Roboter, Rome, Naples, TSF, RIS, RIA
Manifestation avec acte : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2006). Workshop on Physical Human-Robot Interaction in Anthropic Domains, Beijing (Chine), 9-12 Octobre 2006, 15p. , N° 06557
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Abstract
In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday environments. The crucial issues needed to tackle the problem of a safe and dependable physical human-robot interaction (pHRI) were addressed in the EURON Perspective Research Project PHRIDOM (Physical Human- Robot Interaction in Anthropic Domains), aimed at charting the new territory of pHRI. While there are certainly also cognitive issues involved, due to the human perception of the robot (and vice versa), and other objective metrics related to fault detection and isolation, the discussion in this paper will focus on the peculiar aspects of physical interaction with robots. In particular, safety and dependability will be the underlying evaluation criteria for mechanical design, actuation, and control architectures. Mechanical and control issues will be discussed with emphasis on techniques that provide safety in an intrinsic way or by means of control components. Attention will be devoted to dependability, mainly related to sensors, control architectures, and fault handling and tolerance. After PHRIDOM, a novel research project has been launched under the Information Society Technologies Sixth Framework Programme of the European Commission. This Specific Targeted Research or Innovation project is dedicated to Physical Human-Robot Interaction: depENDability and Safety (PHRIENDS). PHRIENDS is about developing key components of the next generation of robots, including industrial robots and assist devices, designed to share the environment and to physically interact with people. The philosophy of the project proposes an integrated approach to the co-design of robots for safe physical interaction with humans, which revolutionizes the classical approach for designing industrial robots rigid design for accuracy, active control for safety by creating a new paradigm: design robots that are intrinsically safe, and control them to deliver performance. This paper presents the state of the art in the field as surveyed by the PHRIDOM project, as well as it enlightens a number of challenges that will be undertaken within the PHRIENDS project.
Mots-Clés / Keywords
Robotics; Dependability; Safety; Human-robot interaction;