Publications associées à Humanoïde

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Stories from the future of intelligent machines—from rescue drones to robot spouses—and accounts of cutting-edge research that could make it all possible. Tech prognosticators promised us robots—autonomous humanoids that could carry out any number of tasks ...

MIT Press2022

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

Anastasia Bolotnikova

We envision a humanoid robot to serve as a source of additional motion-support forces in assistance for frail persons. In this context, we present a control strategy for a humanoid to adaptively regulate its assistive force contribution. First, we identify ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Sylvain Calinon, Emmanuel Pignat

Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although the robot configuration is defined by its joint angles, end-effector poses are oft ...

SAGE PUBLICATIONS LTD2021

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

Aude Billard, Mikhail Koptev, Nadia Barbara Figueroa Fernandez

In this letter, we propose a real-time self-collision avoidance approach for whole-body humanoid robot control. To achieve this, we learn the feasible regions of control in the humanoid's joint space as smooth self-collision boundary functions. Collision-f ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Learning dynamical systems with bifurcations

Aude Billard, Farshad Khadivar, Ilaria Lauzana

Trajectory planning through dynamical systems (DS) provides robust control for robots and has found numerous applications from locomotion to manipulation. However, to date, DS for controlling rhythmic patterns are distinct from DS used to control point to ...

2021

The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation

Dario Floreano, Fabrizio Schiano, Matteo Macchini, Manana Lortkipanidze

The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising alternative to standard c ...

2021

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

Sylvain Calinon, Teguh Santoso Lembono

In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consisten ...

2020

When Positive Perception of the Robot Has No Effect on Learning

Pierre Dillenbourg, Barbara Bruno, Jauwairia Nasir, Utku Norman

Humanoid robots, with a focus on personalised social behaviours, are increasingly being deployed in educational settings to support learning. However, crafting pedagogical HRI designs and robot interventions that have a real, positive impact on participant ...

2020

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Humanoïde

Educational Soft Underwater Robot with an Electromagnetic Actuation

Advancing coordination control of multi-limb robotic tasks: application to bimanual dynamic manipulation and bipedal reactive locomotion

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

Learning dynamical systems with bifurcations

The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

When Positive Perception of the Robot Has No Effect on Learning

Graph Chatbot

Chattez avec Graph Search

Advancing coordination control of multi-limb robotic tasks: application to bimanual dynamic manipulation and bipedal reactive locomotion

Educational Soft Underwater Robot with an Electromagnetic Actuation

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation

Learning dynamical systems with bifurcations

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

When Positive Perception of the Robot Has No Effect on Learning