Planification De Taches De Manipulation Par Pivotement Pour Un Robot Humanoide

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Planification de tâches de manipulation par pivotement pour un robot humanoïde

Author :
Publisher :
ISBN 13 :
Total Pages : 103 pages
Book Rating : 4.:/5 (69 download)

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Book Synopsis Planification de tâches de manipulation par pivotement pour un robot humanoïde by :

Download or read book Planification de tâches de manipulation par pivotement pour un robot humanoïde written by and published by . This book was released on 2009 with total page 103 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce manuscrit met en avant la capacité d’un robot humanoïde à effectuer une tâche difficilement réalisable par d’autres types de robots. On s'intéresse ici à la manipulation d'objets dits encombrants. De telles tâches de manipulation s'effectuent avec beaucoup de difficultés et font appel à plusieurs aptitudes, telles la prise en compte du mouvement du corps dans son ensemble (ou mouvement corps complet) et une parfaite synchronisation entre les différents membres, bras et jambes. Nous introduisons ici un planificateur de mouvements corps complet qui donne à un robot humanoïde la capacité de mettre en place, automatiquement, une stratégie de déplacement d'objets encombrants par pivotement, tout en prenant en compte un certain nombre de contraintes : évitement de collisions, coordination des membres, bras et jambes, et contrôle de la stabilité pendant tout le déplacement. Basé sur des résultats formels, définis en amont, prouvant la contrôlabilité en temps petit d'un système se déplaçant par pivotement. Le planificateur hérite aussi de la complétude probabiliste des méthodes d'échantillonnage aléatoire de planification sur lesquelles il est construit. Les capacités géométriques et cinématiques du planificateur proposé sont aussi démontrées à travers des simulations et des expérimentations réelles. Nous nous intéressons ensuite à résoudre des problèmes plus complexes, en offrant au robot la possibilité de lâcher et de reprendre l'objet à manipuler si celui-ci est bloqué dans un passage étroit

Planification de mouvement pour la manipulation d'objets sous contraintes d'interaction homme-robot

Author : Jim Mainprice
Publisher :
ISBN 13 :
Total Pages : 131 pages
Book Rating : 4.:/5 (879 download)

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Book Synopsis Planification de mouvement pour la manipulation d'objets sous contraintes d'interaction homme-robot by : Jim Mainprice

Download or read book Planification de mouvement pour la manipulation d'objets sous contraintes d'interaction homme-robot written by Jim Mainprice and published by . This book was released on 2012 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: Un robot agit sur son environnement par le mouvement, sa capacité à planifier ses mouvements est donc une composante essentielle de son autonomie. L'objectif de cette thèse est concevoir des méthodes algorithmiques performantes permettant le calcul automatique de trajectoires pour des systèmes robotiques complexes dans le cadre de la robotique d'assistance. Les systèmes considérés qui ont pour vocation de servir l'homme et de l'accompagner dans des tâches du quotidien doivent tenir compte de la sécurité et du bien-être de l'homme. Pour cela, les mouvements du robot doivent être générés en considérant explicitement le partenaire humain raisonant sur un modèle du comportement social de l'homme, de ses capacités et de ses limites afin de produire un comportement synergique optimal.Dans cette thèse nous étendons les travaux pionniers menés au LAAS dans ce domaine afin de produire des mouvements considérant l’homme de manière explicite dans des environnements encombrés. Des algorithmes d’exploration de l’espace des configurations par échantillonnage aléatoire sont combinés à des algorithmes d’optimisation de trajectoire afin de produire des mouvements sûrs et agréables. Nous proposons dans un deuxième temps un planificateur de tâche d’échange d’objet prenant en compte la mobilité du receveur humain permettant ainsi de partager l’effort lors du transfert. La pertinence de cette approche a été étudiée dans une étude utilisateur. Finalement, nous présentons une architecture logicielle qui permet de prendre en compte l’homme de manière dynamique lors de la réalisation de tâches de manipulation interactive

Planification de tâches de manipulation pour robots parallèles à câbles

Author : Diane Bury
Publisher :
ISBN 13 :
Total Pages : 146 pages
Book Rating : 4.:/5 (131 download)

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Book Synopsis Planification de tâches de manipulation pour robots parallèles à câbles by : Diane Bury

Download or read book Planification de tâches de manipulation pour robots parallèles à câbles written by Diane Bury and published by . This book was released on 2020 with total page 146 pages. Available in PDF, EPUB and Kindle. Book excerpt: Les robots parallèles à câbles présentent l'intérêt d'un grand espace de travail comparativement à des robots manipulateurs classiques. En contrepartie, la présence des câbles induit des collisions possibles supplémentaires, et des contraintes de positivité sur les tensions des câbles. La plateforme logicielle HPP développée dans l'équipe GEPETTO du LAAS permet de planifier des mouvements et des tâches de manipulation pour des systèmes articulés dans des environnements encombrés par des obstacles.Le travail réalisé au cours de cette thèse a permis d'appliquer les algorithmes existant dans la plateforme HPP aux robots parallèles à câbles. Le travail de recherche de cette thèse apporte des solutions au problème de validation continue de trajectoires pour les robots parallèles à câbles. Dans un premier temps, un algorithme de validation continue de collision est étendu pour prendre en compte toutes les paires de collisions contenant des câbles. Cet algorithme se base sur le calcul d'un majorant de la vitesse relative de deux corps afin de valider successivement des portions du chemin. Dans un deuxième temps, ce même algorithme de validation continue est étendu afin de valider les conditions de tensions des câbles.Ensemble, la validation continue de collision et la validation continue de tensions forment une méthode de validation continue globale pour robots parallèles à câbles. Cette méthode est utilisée au sein d'algorithmes de planification probabilistespour effectuer de la planification de mouvement pour robots à câbles. Des scénarios représentant des tâches de logistiques ou des tâches industrielles sont testés en simulation ainsi qu'en réel sur le robot CoGiRo.

Planification de tâches de manipulation en robotique

Author : Anis Sahbani
Publisher : Editions Universitaires Europeennes
ISBN 13 : 9783841799449
Total Pages : 152 pages
Book Rating : 4.7/5 (994 download)

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Book Synopsis Planification de tâches de manipulation en robotique by : Anis Sahbani

Download or read book Planification de tâches de manipulation en robotique written by Anis Sahbani and published by Editions Universitaires Europeennes. This book was released on 2012 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce livre porte sur la planification de taches de manipulation pour des systemes robotiques. Dans ce contexte, la planification ne se limite pas au calcul automatique des chemins sans collision pour un robot mais integre egalement le sequencement des differentes sous-taches de prise et de pose d'objets. De part leur complexite, ces problemes ont longtemps resiste aux methodes deterministes initialement proposees dans la litterature. Le developpement recent des techniques probabilistes permet aujourd'hui de les revisiter. Nous detaillons dans ce livre les notions d'espace de prise et de pose sur lesquelles reposent la structuration de l'espace de recherche. Nous distinguons ensuite deux instances du probleme de manipulation: le cas discret et le cas continu d'ensemble de prises et de poses. Nous proposons egalement une approche generique qui permet la resolution de problemes de manipulation sous contraintes continues. Cette approche consiste a capturer la connectivite d'une sous-variete particuliere de l'espace des configurations composite dans une structure de graphe, appele "graphe de manipulation."

Planification des tâches de manipulation en robotique par des approches probabilistes

Author : Anis Sahbani
Publisher :
ISBN 13 :
Total Pages : 274 pages
Book Rating : 4.:/5 (49 download)

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Book Synopsis Planification des tâches de manipulation en robotique par des approches probabilistes by : Anis Sahbani

Download or read book Planification des tâches de manipulation en robotique par des approches probabilistes written by Anis Sahbani and published by . This book was released on 2003 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Modeling, Identification and Control of Robots

Author : W. Khalil
Publisher : Butterworth-Heinemann
ISBN 13 : 0080536611
Total Pages : 503 pages
Book Rating : 4.0/5 (85 download)

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Book Synopsis Modeling, Identification and Control of Robots by : W. Khalil

Download or read book Modeling, Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level

Biomechanics of the Upper Limbs

Author : Andris Freivalds
Publisher : CRC Press
ISBN 13 : 1420091204
Total Pages : 528 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis Biomechanics of the Upper Limbs by : Andris Freivalds

Download or read book Biomechanics of the Upper Limbs written by Andris Freivalds and published by CRC Press. This book was released on 2011-02-16 with total page 528 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is already a wealth of literature covering cumulative trauma disorders and medical management, as well as the biomechanics of manual material handling and lower back problems. However, despite a spike in the number of work-related musculoskeletal disorders (WRMSDs) in the upper limbs-due to a sharp increase in the amount of computer-related j

Simulating Humans

Author : Norman I. Badler
Publisher : Oxford University Press, USA
ISBN 13 : 0195073592
Total Pages : 287 pages
Book Rating : 4.1/5 (95 download)

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Book Synopsis Simulating Humans by : Norman I. Badler

Download or read book Simulating Humans written by Norman I. Badler and published by Oxford University Press, USA. This book was released on 1993-09-02 with total page 287 pages. Available in PDF, EPUB and Kindle. Book excerpt: The area of simulated human figures is an active research area in computer graphics, and Norman Badler's group at the University of Pennsylvania is one of the leaders in the field. This book summarizes the state of the art in simulating human figures, discusses many of the interesting application areas, and makes some assumptions and predictions about where the field is going.

RoboCup 2010: Robot Soccer World Cup XIV

Author : Javier Ruiz-del-Solar
Publisher : Springer Science & Business Media
ISBN 13 : 3642202160
Total Pages : 441 pages
Book Rating : 4.6/5 (422 download)

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Book Synopsis RoboCup 2010: Robot Soccer World Cup XIV by : Javier Ruiz-del-Solar

Download or read book RoboCup 2010: Robot Soccer World Cup XIV written by Javier Ruiz-del-Solar and published by Springer Science & Business Media. This book was released on 2011-04-09 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes the thoroughly refereed post-conference proceedings of the 14th RoboCup International Symposium, held in Singapore, in June, 2010 - representing the scientific tracks structured in four sessions entitled simulation and rescue robots; robot perception and localization; robot motion and humanoid robots; and human robot interaction and semantic scene analysis. The 20 revised full papers and 16 revised short papers presented were carefully reviewed and selected from 78 submissions. Documenting the research advances of the RoboCup community since the predecessor symposium, this book constitutes a valuable source of reference and inspiration for R&D professionals interested in RoboCup or in robotics and distributed AI more generally.

Modeling, Simulation and Optimization of Bipedal Walking

Author : Katja Mombaur
Publisher : Springer Science & Business Media
ISBN 13 : 3642363687
Total Pages : 289 pages
Book Rating : 4.6/5 (423 download)

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Book Synopsis Modeling, Simulation and Optimization of Bipedal Walking by : Katja Mombaur

Download or read book Modeling, Simulation and Optimization of Bipedal Walking written by Katja Mombaur and published by Springer Science & Business Media. This book was released on 2013-02-28 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.

RAMSETE

Author : Salvatore Nicosia
Publisher : Springer
ISBN 13 : 3540450009
Total Pages : 292 pages
Book Rating : 4.5/5 (44 download)

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Book Synopsis RAMSETE by : Salvatore Nicosia

Download or read book RAMSETE written by Salvatore Nicosia and published by Springer. This book was released on 2003-07-01 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.

Neurobiology of "Umwelt"

Author : Alain Berthoz
Publisher : Springer Science & Business Media
ISBN 13 : 3540858970
Total Pages : 161 pages
Book Rating : 4.5/5 (48 download)

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Book Synopsis Neurobiology of "Umwelt" by : Alain Berthoz

Download or read book Neurobiology of "Umwelt" written by Alain Berthoz and published by Springer Science & Business Media. This book was released on 2008-11-14 with total page 161 pages. Available in PDF, EPUB and Kindle. Book excerpt: At the beginning of the 20th century, German biologist Jakob von Uexküll created the concept of "Umwelt" to denote the environment as experienced by a subject. This concept of environment differs from the idea of passive surroundings and is defined not just by physical surroundings, but is rather a "subjective universe", a space weighted with meaning. Today, neuroscience provides a new way to look at the brain’s capability to create a representation of the world. At the same time behavioural specialists are demonstrating that animals have a richer mental universe than previously known. Philosophical reflection thus finds itself with more experimental and objective data as well. Nearly a century after the publication of von Uexküll’s founding work ("Umwelt und Innenwelt der Tiere" was published in 1909), neurobiologists, psychologists, sociologists, anthropologists, ethologists, and philosophers revisit his mail concept at the light of modern science

Simplexity

Author : Alain Berthoz
Publisher : Odile Jacob
ISBN 13 : 2738147453
Total Pages : 194 pages
Book Rating : 4.7/5 (381 download)

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Book Synopsis Simplexity by : Alain Berthoz

Download or read book Simplexity written by Alain Berthoz and published by Odile Jacob. This book was released on 2018-12-20 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Simplexity, as I understand it, is the range of solutions living organisms have found, despite the complexity of natural processes, to enable the brain to prepare an action and plan for the consequences of it. These solutions are simplifying principles that enable the processing of information or situations, by taking into account past experience and anticipating the future. They are neither caricatures, shortcuts, or summaries. They are new ways of asking questions, sometimes at the cost of occasional detours, in order to achieve faster, more elegant, more effective actions.” A. B. As Alain Berthoz demonstrates in this profoundly original book, simplicity is never easy; it requires suppressing, selecting, connecting, thinking, in order to then act in the best way possible. And what if we, in turn, are inspired by the living world to process the complexity that surrounds us? Alain Berthoz is professor at the Collège de France where he is co-director of the Laboratoire de physiologie de la perception et de l’action. [Laboratory for the physiology of perception and action]. He is a member of the French Academy of Sciences, and is the author of Le Sens du mouvement [The Brain's Sense of Movement] and La Décision [Emotion and Reason].

Representation and Brain

Author : Shintaro Funahashi
Publisher : Springer Science & Business Media
ISBN 13 : 4431730214
Total Pages : 368 pages
Book Rating : 4.4/5 (317 download)

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Book Synopsis Representation and Brain by : Shintaro Funahashi

Download or read book Representation and Brain written by Shintaro Funahashi and published by Springer Science & Business Media. This book was released on 2009-04-22 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt: Understanding brain functions, especially the neural mechanisms of higher cognitive processes such as thinking, reasoning, judging, and decision making, are the subjects covered by the chapters of this book. They describe recent progress in four major research areas: visual functions, motor functions, memory functions, and prefrontal functions. There are many color illustrations making this book an especially valuable resource for students and researchers in neuroscience.

Handbook of Educational Psychology

Author : David C. Berliner
Publisher : Routledge
ISBN 13 : 0805850805
Total Pages : 1075 pages
Book Rating : 4.8/5 (58 download)

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Book Synopsis Handbook of Educational Psychology by : David C. Berliner

Download or read book Handbook of Educational Psychology written by David C. Berliner and published by Routledge. This book was released on 2004 with total page 1075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sponsored by Division 15 of APA, the second edition of this groundbreaking book has been expanded to 41 chapters that provide unparalleled coverage of this far-ranging field. Internationally recognized scholars contribute up-to-date reviews and critical syntheses of the following areas: foundations and the future of educational psychology, learners' development, individual differences, cognition, motivation, content area teaching, socio-cultural perspectives on teaching and learning, teachers and teaching, instructional design, teacher assessment, and modern perspectives on research methodologies, data, and data analysis. New chapters cover topics such as adult development, self-regulation, changes in knowledge and beliefs, and writing. Expanded treatment has been given to cognition, motivation, and new methodologies for gathering and analyzing data. The Handbook of Educational Psychology, Second Editionprovides an indispensable reference volume for scholars, teacher educators, in-service practitioners, policy makers and the academic libraries serving these audiences. It is also appropriate for graduate level courses devoted to the study of educational psychology. s, teacher educators, in-service practitioners, policy makers and the academic libraries serving these audiences. It is also appropriate for graduate level courses devoted to the study of educational psychology.

RoboCup-97: Robot Soccer World Cup I

Author : Hiroaki Kitano
Publisher : Springer Science & Business Media
ISBN 13 : 9783540644736
Total Pages : 548 pages
Book Rating : 4.6/5 (447 download)

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Book Synopsis RoboCup-97: Robot Soccer World Cup I by : Hiroaki Kitano

Download or read book RoboCup-97: Robot Soccer World Cup I written by Hiroaki Kitano and published by Springer Science & Business Media. This book was released on 1998-04-20 with total page 548 pages. Available in PDF, EPUB and Kindle. Book excerpt: RoboCup is an international initiative devoted to advancing the state of the art in artificial intelligence and robotics. The ultimate, long range goal is to build a team of robot soccer players that can beat a human World Cup champion team.This is the first book devoted to RoboCup. It opens with an overview section presenting the history of this young initiative, motivation, the overall perspectives and challenges, and a survey of the state of the art in the area. The technical paper section presents the state of the art of the interdisciplinary research and development efforts in details, essentially building on the progress achieved during the RoboCup-97 Workshop. The team description contributions discuss technical and strategic aspects of the work of the participating teams.

Gait Analysis in the Science of Rehabilitation

Author : Joel A. DeLisa
Publisher : DIANE Publishing
ISBN 13 : 0756700213
Total Pages : 129 pages
Book Rating : 4.7/5 (567 download)

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Book Synopsis Gait Analysis in the Science of Rehabilitation by : Joel A. DeLisa

Download or read book Gait Analysis in the Science of Rehabilitation written by Joel A. DeLisa and published by DIANE Publishing. This book was released on 1998 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: Instrumented gait analysis systems offer objective evaluation of the effectiveness of the various rehabilitation treatments that are aimed at improving gait disabilities. There are four sections in this report: clinical observation; review of the instrumental gait analysis systems; the value of information resulting from instrumented gait analysis from the perspective of a psychiatrist, an orthopedic surgeon, & a physical therapist; & discussion of future trends for gait laboratories. The authors are experts from multiple rehabilitation specialties to give you an understanding of how gait analysis can be used to evaluate a person's walking abilities to maximize function & maintain or improve quality of life. Illustrations.