110documents trouvés
Walking on non-planar surfaces using an inverse dynamic stack of tasks
O.RAMOS PONCE, N.MANSARD, O.STASSE, P.SOUERES
GEPETTO
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots ( HUMANOIDS ) 2012 du 29 novembre au 01 décembre 2012, Osaka (Japon), 2012, 7p. , N° 12654
Lien : http://hal.archives-ouvertes.fr/hal-00738243
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Abstract
This paper presents a method to handle walking on non-planar surfaces. The method obtains the trajectory of the center of mass and the next position of the foot from a pattern generator. Then, an inverse dynamics control scheme with a quadratic programming optimization solver is used to let the foot go from its initial to its final position, controlling also the center of mass and the waist. This solver is able to handle an arbitrary number of contact points. When the swinging foot is going down, collision points are detected and they are added as contact points to the model as soon as they appear. If there are three or more contact points, the foot can safely step, but if there are one or two contact points, the foot rotates properly to generate the largest support polygon. Using this heuristic, the foot can stand on non-planar surfaces. The results show the simulation of HRP-2 walking on a surface with obstacles.
Generation of human-like motion on anthropomorphic systems using inverse dynamics
L.SAAB, P.SOUERES, N.MANSARD, J.Y.FOURQUET
GEPETTO, ENIT Tarbes
Manifestation avec acte : Congrès Annuel de la Société de Bioméchanique 2012 du 16 octobre au 19 octobre 2012, Toulouse (France), 2012, 2p. , N° 12425
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Abstract
This work deals with the generation of human-like whole-body movements on anthropomorphic systems. We propose a general framework to generate robot movements from the definition of ordered stack of tasks and a global resolution scheme that enables to consider different kinds of constraints. We compare qualitatively the robot movements generated from this software with similar recorded human movements. We start with a direct global comparison of body movements. Then we analyze the magnitude of the reconstructed human torques and compare with the simulated robot torques during the motion.
Optimization-based walking generation for humanoid robot
K.HENNING KOCH, K.MOMBAUR, P.SOUERES
Heidelberg, GEPETTO
Manifestation avec acte : International IFAC Symposium on Robot Control (SYROCO'12), Dubrovnick (Croatie), 5-9 Septembre 2012, 8p. , N° 12423
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128120Whole-body torques for generating complex movements in humans and humanoids
L.SAAB, N.MANSARD, P.SOUERES, J.Y.FOURQUET, M.SREENIVASA, Y.NAKAMURA
GEPETTO, ENIT Tarbes, University of Tokyo
Manifestation avec acte : International IFAC Symposium on Robot Control (SYROCO'12), Dubrovnick (Croatie), 5-7 Septembre 2012, 6p. , N° 12424
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128121Generation of human-like motion on anthropomorphic systems using inverse dynamics
L.SAAB, P.SOUERES, N.MANSARD, J.Y.FOURQUET
GEPETTO, ENIT Tarbes
Revue Scientifique : Computer Methods in Biomechanics and Biomedical Engineering, Supplément 1, Vol.15, pp.156-158, Septembre 2012 , N° 12425
Lien : http://hal.archives-ouvertes.fr/hal-00764236
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Abstract
This work deals with the generation of human-like whole-body movements on anthropomorphic systems. We propose a general framework to generate robot movements from the definition of ordered stack of tasks and a global resolution scheme that enables to consider different kinds of constraints. We compare qualitatively the robot movements generated from this software with similar recorded human movements. We start with a direct global comparison of body movements. Then we analyze the magnitude of the reconstructed human torques and compare with the simulated robot torques during the motion.
On using methods from robotics to study human task dependent balance during whole-body pointing and drawing movements
M.SREENIVASA, P.SOUERES, Y.NAKAMURA
University of Tokyo, GEPETTO
Manifestation avec acte : International Conference on Biomedical Robotics and Biomechatronics (BioRob'2012), Rome (Italie), 24-28 Juin 2012, 8p. , N° 12110
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127657Attitude estimation for humanoid robots using sensorial integration and Extended Kalman Filtering
P.PIERRO, N.MANSARD, P.SOUERES, C.A.MONJE, C.BALAGUER
UC3M, GEPETTO
Manifestation avec acte : IEEE Intelligent Vehicles Conference (IV'12). Workshop on Perception in Robotics, Madrid (Espagne), 3 Juin 2012, 6p. , N° 12404
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127787Walking to grasp: modeling of human movements as invariants and an application to humanoid robotics
M.SREENIVASA, P.SOUERES, J.P.LAUMOND
University of Tokyo, GEPETTO
Rapport LAAS N°12111, DOI 10.1109/TSMCA.2011.2178830 , Mars 2012, 16p.
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126765Dynamic whole-body motion generation under rigid contacts and other unilateral constraints
L.SAAB, O.RAMOS PONCE, F.KEITH, N.MANSARD, P.SOUERES, J.Y.FOURQUET
GEPETTO, INRIA Rhône-Alpes, ENIT Tarbes
Rapport LAAS N°12014, Janvier 2012, 14p.
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126189Generic 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
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