110documents trouvés
Coupling manipulation and locomotion tasks for a humanoid robot
L.SAAB, P.SOUERES, J.Y.FOURQUET
GEPETTO, ENIT Tarbes
Manifestation avec acte : Conference on Advances in Computational tools for Engineering Applications (ACTEA 2009), Zouk Mosbeh (Liban), 15-17 Juillet 2009, 6p. , N° 09292
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118801A geometric algorithm to compute time-optimal trajectories for a bidirectional steered robot
H.WANG, Y. CHEN, P.SOUERES
Beijing, GEPETTO
Revue Scientifique : IEEE Transaction on Robotics, Vol.25, N°2, Février 2009 , N° 09334
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118013A principled approach to biological motor control for generating humanoid robot reaching movements
T.M.TUAN, P.SOUERES, M.TAIX, E.GUIGON
GEPETTO, INSERM ANIM
Manifestation avec acte : IEEE International Conference on Biomedical Robotics and Biomechatronics, Scottsdale (USA), 19-22 Octobre 2008, pp.783-788 , N° 08218
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Abstract
This paper presents an application of neurobiological motor principles to the control of humanoid robot reaching movements. The model is mainly based on the hypotheses that the energy of motoneurons signals is continuously minimized along the motion and that dynamic and static efforts are processed separately. This paradigm is used to control the robot HRP2 by considering a dynamic model of the arm including, for each degree of freedom, two second order low-pass filters modeling the neuromuscular system defined by a pair of antagonist muscles. The optimal control problem is solved as a nonlinear programming problem by using a direct transcription method coupled with the optimization software Ipopt. This approach allows to generate realistic movements with anthropomorphic features such as quasi-rectilinear trajectories and bell-shaped velocity.
Mots-Clés / Keywords
Neurobiological principles; Reaching control; Humanoid robot ; Direct transcription; Human motor control; Nonlinear programming;
Visual servoing reveals gaze direction influence in reaching
C.JOUFFRAIS, P.SOUERES, C.HALGAND
GEPETTO, IRIT-UPS
Rapport LAAS N°08353, Juillet 2008, 14p.
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114420Walking stabilization control of a humanoid robot based on double inverted pendulum dynamical model
D.KAYNOV, P.SOUERES, C.BALAGUER
Carlos III, GEPETTO
Rapport LAAS N°08135, Mars 2008, 7p.
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113332A paradigm of neurobiological motor principles for the control of humanoid robots reaching motions
T.M.TUAN, P.SOUERES, M.TAIX, E.GUIGON
GEPETTO, INSERM ANIM
Manifestation avec acte : ESF-JSPS Frontier Science Conference for Young Researchers Experimental Cognitive Robotics, Kanagawa (Japon), 9-15 Mars 2008, 16p. , N° 07695
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113892An efficient geometric algorithm to compute time-optimal trajectories for a car-like robot
H.WANG, Y. CHEN, P.SOUERES
Beijing, GEPETTO
Manifestation avec acte : 46th IEEE Conference on Decision and Control, New Orleans (USA), Décembre 2007, pp.5383-5388 , N° 07562
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Abstract
This paper addresses the problem of computing a time-optimal trajectory between two configurations of a carlike robot. Since 1990, two remarkable results of this problem have been achieved: the sufficient family containing all types of optimal trajectories between any two configurations, and then the optimal synthesis determining a type of optimal trajectories for two specified configurations. Our contribution is to propose an algorithm which can determine a precise trajectory to link two specified configurations. Moreover, this algorithm has three features: first it can achieve an optimal trajectory ending at the exact final configuration; second it is complete, i.e. it allows to determine an optimal trajectory to link any two configurations; and third it has very low computational cost. The rules for designing this algorithm result from a new geometric reasoning in the switching space, which is another contribution of this paper.
A tutorial on sound source localization in robotics: from biomimetic to array processing methods
S.ARGENTIERI, P.DANES, P.SOUERES
RAP, GEPETTO
Rapport LAAS N°07696, Décembre 2007, 21p.
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Mots-Clés / Keywords
Robot audition; Sound source localization; Bioinspired auditory systems; Array processing;
Modélisation d'un dirigeable pour le vol autonome
A.BONNET, P.SOUERES, E.HYGOUNENC
LAP, GEPETTO
Ouvrage (contribution) : Traité IC2, Lavoisier, N°ISBN 2-7462-1466-0, Octobre 2007 , N° 07836
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118015Aerodynamic modeling and practical attitude stabilization of a ducted fan UAV
J.M.PFLIMLIN, P.BINETTI, D.TROUCHET, P.SOUERES, T.HAMEL
GEPETTO, BERTIN, I3S
Manifestation avec acte : European Control Conference (ECC'07), Kos (Grèce), 2-5 Juillet 2007, pp.4023-4029 , N° 06680
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