208documents trouvés
Whole-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;
A complexity result for the pursuit-evasion game of maintaining visibility of a moving evader
R.MURRIETA-CID, R.MONROY, S.HUTCHINSON, J.P.LAUMOND
ITESM, Mexico, Urbana, GEPETTO, CMR, Mexico
Rapport LAAS N°07210, Mai 2007, 8p.
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110183Swept volume approximation of polygon soups
J.HIMMELSTEIN, E.FERRE, J.P.LAUMOND
GEPETTO, Kineo
Manifestation avec acte : 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome (Italie), 10-14 Avril 2007, pp.4854-4860 , N° 06602
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110260Optimizing principles underlying in shape of trajectories in goal locomotion for humans
G.ARECHAVALETA-SERVIN, J.P.LAUMOND, H.HICHEUR, A.BERTHOZ
LPPA, GEPETTO
Manifestation avec acte : 2006 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS'06), Genova (Italie), 4-6 Décembre 2006, 6p. , N° 06457
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108883Task-driven support polygon reshaping for humanoids
E.YOSHIDA, O.KANOUN, C.ESTEVES JARAMILLO, J.P.LAUMOND
GEPETTO
Manifestation avec acte : 2006 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS'06), Genova (Italie), 4-6 Décembre 2006, 6p. , N° 06462
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Abstract
In this paper we address a task-driven motion generation method that allows a humanoid robot to make wholebody motions including support polygon reshaping to achieve the given tasks. In the proposed method, generalized inverse kinematics (IK) is employed to generate humanoid whole-body motions that enable the robot to accomplish the tasks according to given priorities. During the motion, several criteria such as manipulability or end-effector position error are tracked. If the desired task cannot be done because of those criteria, a geometric planner for support polygon is activated. Then the whole-body motion is computed again always using the generalized IK solver including stepping motion that realizes the deformed support polygon by using dynamic walking pattern generator. This method provides a way to perform tasks that could not be done without changing the humanoids support state. We have verified the proposed framework through simulations humanoid robot HRP-2.
Task-driven support polygon reshaping for humanoids: experimental results
E.YOSHIDA, O.KANOUN, C.ESTEVES JARAMILLO, J.P.LAUMOND
GEPETTO
Manifestation avec acte : IEEE-RAS - International Conference on Humanoid Robots, Gènes (Italie), 4-6 Décembre 2006 , N° 06601
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118011Synthesizing and modeling human locomotion using system identification
W.SULEIMAN, A.MONIN, J.P.LAUMOND
MRS, RIA
Manifestation avec acte : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2006), Beijing (Chine), 9-12 Octobre 2006, pp.1972-1977 , N° 06103
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107968Smooth collision avoidance: practical issues in dynamic humanoid motion
E.YOSHIDA, C.ESTEVES JARAMILLO, T.SAKAGUCHI, J.P.LAUMOND, K.YOKOI
GEPETTO, AIST
Manifestation avec acte : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2006), Beijing (Chine), 9-12 Octobre 2006, pp.827-832 , N° 06520
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Abstract
In this paper we address smooth and collision-free whole-body motion planning for humanoid robots. A two-stage iterative planning framework is introduced where geometric motion planner and dynamic pattern generator interacts by exchanging the trajectory, to obtain 3D whole-body dynamic motions simultaneous tasks including locomotion, in complex environments. We propose a practical method for smooth motion reshaping to avoid collisions in generated dynamic motion. Based on motion editing techniques in computer graphics animation, smooth collision-avoiding motion is generated through trajectory deformation. The validity of the proposed reshaping method is veri!ed by computer simulations and experiments using humanoid platform HRP-2.
Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape
P.ROBUFFO-GIORDANO, M.VENDITTELLI, J.P.LAUMOND, P.SOUERES
Rome, GEPETTO
Revue Scientifique : IEEE Transactions on Robotics, Vol.22, N°5, pp.1040-1047, Octobre 2006 , N° 06592
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108882Real-time navigating crowds: scalable simulation and rendering
J.PETTRE, P.DE HERAS CIECHOMSKI, J.MAIM, B.YERSIN, J.P.LAUMOND, D.THALMANN
RIA, EPFL, GEPETTO
Revue Scientifique : Computer Animation and Virtual Worlds, Vol.17, N°3-4, pp.445-455, Juillet 2006 , N° 06493
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