Planification De Trajectoire Pour La Manipulation Dobjets Et Linteraction Homme Robot

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Planification de trajectoire pour la manipulation d'objets et l'interaction homme-robot

Author : Xavier Broquère
Publisher :
ISBN 13 :
Total Pages : 139 pages
Book Rating : 4.:/5 (819 download)

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Book Synopsis Planification de trajectoire pour la manipulation d'objets et l'interaction homme-robot by : Xavier Broquère

Download or read book Planification de trajectoire pour la manipulation d'objets et l'interaction homme-robot written by Xavier Broquère and published by . This book was released on 2011 with total page 139 pages. Available in PDF, EPUB and Kindle. Book excerpt: Le contexte de la robotique de service est caractérisé par la présence de l'homme dans l'espace de travail du robot. Les mouvements de ces robots ne doivent perturber ni la sécurité de l'homme ni son confort. D'un point de vu planification de mouvement, le planificateur doit d'une part éviter de heurter l'homme ou l'environnement et d'autre part adapter les limites cinématiques du robot en fonction de la proximité de l'homme. A chaque niveau du système (planification et exécution/contrôle), le robot doit garantir la sécurité et le confort de l'homme. Nous proposons une approche de la planification et du contrôle de mouvement basée sur des trajectoires polynomiales. Dans une première partie, nous présentons un générateur de trajectoires qui limite la vitesse, l'accélération et le jerk. Il génère des trajectoires composées de suites de segments de courbes cubiques. Le cas mono-dimensionnel est d'abord présenté puis étendu au cas multi-dimensionnel. Dans une deuxième partie, nous proposons d'approximer les trajectoires par des suites de triplets de segments de courbes cubiques. Cette méthode permet de calculer des trajectoires respectant une erreur maximale donnée. Ces générateurs de trajectoire sont intégrés au planificateur de chemin et produisent des trajectoires directement exécutables. Une application originale de l'approximation permet d'approximer une trajectoire définie dans l'espace cartésien par une trajectoire définie dans l'espace articulaire. Cette approche simplifie la structure du contrôleur du robot. La présence de l'homme dans l'espace de travail du robot nécessite une adaptation des trajectoires pendant l'exécution. Nous proposons une méthode pour adapter la loi de mouvement de la trajectoire multidimensionnelle pendant l'exécution. Ces travaux, menés dans le cadre du projet européen DEXMART et du projet ANR ASSIST, ont été intégrés et validés sur les plateformes Jido et PR2 du LAAS-CNRS.

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

Advanced Bimanual Manipulation

Author : Bruno Siciliano
Publisher : Springer Science & Business Media
ISBN 13 : 364229040X
Total Pages : 284 pages
Book Rating : 4.6/5 (422 download)

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Book Synopsis Advanced Bimanual Manipulation by : Bruno Siciliano

Download or read book Advanced Bimanual Manipulation written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-04-12 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Informatics in Control, Automation and Robotics

Author : Jean-Louis Ferrier
Publisher : Springer
ISBN 13 : 3319108913
Total Pages : 425 pages
Book Rating : 4.3/5 (191 download)

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Book Synopsis Informatics in Control, Automation and Robotics by : Jean-Louis Ferrier

Download or read book Informatics in Control, Automation and Robotics written by Jean-Louis Ferrier and published by Springer. This book was released on 2014-11-04 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present book includes a set of selected papers from the tenth “International Conference on Informatics in Control Automation and Robotics” (ICINCO 2013), held in Reykjavík, Iceland, from 29 to 31 July 2013. The conference was organized in four simultaneous tracks: “Intelligent Control Systems and Optimization”, “Robotics and Automation”, “Signal Processing, Sensors, Systems Modeling and Control” and “Industrial Engineering, Production and Management”. The book is based on the same structure. ICINCO 2013 received 255 paper submissions from 50 countries, in all continents. After a double blind paper review performed by the Program Committee only 30% were published and presented orally. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2013.

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

Interaction décisionnelle homme-robot

Author : Samir Alili
Publisher :
ISBN 13 :
Total Pages : 173 pages
Book Rating : 4.:/5 (922 download)

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Book Synopsis Interaction décisionnelle homme-robot by : Samir Alili

Download or read book Interaction décisionnelle homme-robot written by Samir Alili and published by . This book was released on 2011 with total page 173 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cette thèse aborde la problématique de la décision partagée homme-robot dans une perspective de résolution interactive de problème à laquelle prennent part l'homme et le robot. Le robot et l'homme poursuivent des objectifs communs et doivent déterminer ensemble les moyens de les réaliser (les capacités et les compétences de chacun étant différentes). Les questions à traiter concernent ce partage des rôles, le partage d'autorité dans l'exécution d'une tâche (prise d'initiative), les connaissances à exhiber afin que l'un et l'autre puissent jouer un rôle optimal dans la résolution du problème commun. Nous avons développé un planificateur de tâche nommé HATP (Human Aware Task Planner). Ce planificateur est conçu sur la base de la planification hiérarchique qu'on a enrichie avec des règles sociales. Il permet de produire des plans qui sont socialement acceptables, c'est-à-dire des plans qui rendent lisibles les actions et les intentions du robot. Le planificateur a également la capacité de planifier pour le robot et l'humain tout en garantissant l'optimalité pour chacun d'eux. Nous nous sommes également intéressés à une approche hybride, qui mixe la planification de tâche à la planification géométrique. Cette approche permet au robot d'avoir un contrôle sur la séquence d'actions qu'il produit mais également sur la façon de la réaliser. Ce qui permet de traiter le problème de l'interaction homme-robot de manière plus fine mais également sur plusieurs niveaux.

Pollination and Floral Ecology

Author : Pat Willmer
Publisher : Princeton University Press
ISBN 13 : 0691128618
Total Pages : 790 pages
Book Rating : 4.6/5 (911 download)

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Book Synopsis Pollination and Floral Ecology by : Pat Willmer

Download or read book Pollination and Floral Ecology written by Pat Willmer and published by Princeton University Press. This book was released on 2011-07-25 with total page 790 pages. Available in PDF, EPUB and Kindle. Book excerpt: Pollination and Floral Ecology is a very comprehensive reference work to all aspects of pollination biology.

On-Line Trajectory Generation in Robotic Systems

Author : Torsten Kröger
Publisher : Springer
ISBN 13 : 3642051758
Total Pages : 236 pages
Book Rating : 4.6/5 (42 download)

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Book Synopsis On-Line Trajectory Generation in Robotic Systems by : Torsten Kröger

Download or read book On-Line Trajectory Generation in Robotic Systems written by Torsten Kröger and published by Springer. This book was released on 2010-01-10 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse research areas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Advances in Interdisciplinary Engineering

Author : Niraj Kumar
Publisher : Springer Nature
ISBN 13 : 9811599564
Total Pages : 838 pages
Book Rating : 4.8/5 (115 download)

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Book Synopsis Advances in Interdisciplinary Engineering by : Niraj Kumar

Download or read book Advances in Interdisciplinary Engineering written by Niraj Kumar and published by Springer Nature. This book was released on 2021-04-12 with total page 838 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises the select proceedings of the International Conference on Future Learning Aspects of Mechanical Engineering (FLAME) 2020. This volume focuses on several emerging interdisciplinary areas involving mechanical engineering. Some of the topics covered include automobile engineering, mechatronics, applied mechanics, structural mechanics, hydraulic mechanics, human vibration, biomechanics, biomedical Instrumentation, ergonomics, biodynamic modeling, nuclear engineering, and agriculture engineering. The contents of this book will be useful for students, researchers as well as professionals interested in interdisciplinary topics of mechanical engineering.

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.

CIKM'13

Author : CIKM 13 Conference Committee
Publisher :
ISBN 13 : 9781450326964
Total Pages : 938 pages
Book Rating : 4.3/5 (269 download)

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Book Synopsis CIKM'13 by : CIKM 13 Conference Committee

Download or read book CIKM'13 written by CIKM 13 Conference Committee and published by . This book was released on 2013-10-27 with total page 938 pages. Available in PDF, EPUB and Kindle. Book excerpt: CIKM'13: 22nd ACM International Conference on Information and Knowledge Management Oct 27, 2013-Nov 01, 2013 San Francisco, USA. You can view more information about this proceeding and all of ACM�s other published conference proceedings from the ACM Digital Library: http://www.acm.org/dl.

Global Burden of Disease and Risk Factors

Author : Alan D. Lopez
Publisher : World Bank Publications
ISBN 13 : 0821362631
Total Pages : 511 pages
Book Rating : 4.8/5 (213 download)

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Book Synopsis Global Burden of Disease and Risk Factors by : Alan D. Lopez

Download or read book Global Burden of Disease and Risk Factors written by Alan D. Lopez and published by World Bank Publications. This book was released on 2006-04-02 with total page 511 pages. Available in PDF, EPUB and Kindle. Book excerpt: Strategic health planning, the cornerstone of initiatives designed to achieve health improvement goals around the world, requires an understanding of the comparative burden of diseases and injuries, their corresponding risk factors and the likely effects of invervention options. The Global Burden of Disease framework, originally published in 1990, has been widely adopted as the preferred method for health accounting and has become the standard to guide the setting of health research priorities. This publication sets out an updated assessment of the situation, with an analysis of trends observed since 1990 and a chapter on the sensitivity of GBD estimates to various sources of uncertainty in methods and data.

Springer Handbook of Robotics

Author : Bruno Siciliano
Publisher : Springer
ISBN 13 : 3319325523
Total Pages : 2259 pages
Book Rating : 4.3/5 (193 download)

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Book Synopsis Springer Handbook of Robotics by : Bruno Siciliano

Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/

Geographies of Disorientation

Author : Marcella Schmidt di Friedberg
Publisher : Routledge
ISBN 13 : 1317128281
Total Pages : 318 pages
Book Rating : 4.3/5 (171 download)

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Book Synopsis Geographies of Disorientation by : Marcella Schmidt di Friedberg

Download or read book Geographies of Disorientation written by Marcella Schmidt di Friedberg and published by Routledge. This book was released on 2017-08-10 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: Spatial disorientation is of key relevance to our globalized world, eliciting complex questions about our relationship with technology and the last remaining vestiges of our animal nature. Viewed more broadly, disorientation is a profoundly geographical theme that concerns our relationship with space, places, the body, emotions, and time, as well as being a powerful and frequently recurring metaphor in art, philosophy, and literature. Using multiple perspectives, lenses, methodological tools, and scales, Geographies of Disorientation addresses questions such as: How do we orient ourselves? What are the cognitive and cultural instruments that we use to move through space? Why do we get lost? Two main threads run through the book: getting lost as a practice, explored within a post-phenomenological framework in relation to direct and indirect observation, wayfinding performances, and the various methods and tools used to find our position in space; and disorientation as a metaphor for the contemporary era, used in a broad range of contexts to express the difficulty of finding points of reference in the world we live in. Drawing on a wide range of literature, Geographies of Disorientation is a highly original and intruiging read which will be of interest to scholars of human geography, philosophy, sociology, anthropology, cognitive science, information technology, and the communication sciences.

Lyapunov-Based Control of Robotic Systems

Author : Aman Behal
Publisher : CRC Press
ISBN 13 : 1420006274
Total Pages : 389 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis Lyapunov-Based Control of Robotic Systems by : Aman Behal

Download or read book Lyapunov-Based Control of Robotic Systems written by Aman Behal and published by CRC Press. This book was released on 2009-12-17 with total page 389 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direc

Grasping in Robotics

Author : Giuseppe Carbone
Publisher : Springer Science & Business Media
ISBN 13 : 1447146646
Total Pages : 464 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Grasping in Robotics by : Giuseppe Carbone

Download or read book Grasping in Robotics written by Giuseppe Carbone and published by Springer Science & Business Media. This book was released on 2012-11-15 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture). The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and humanoid robotics. It could even be adopted as a reference textbook in specific PhD courses.

Designs and Prototypes of Mobile Robots

Author : Marco Ceccarelli
Publisher : Momentum Press
ISBN 13 : 1606508245
Total Pages : 222 pages
Book Rating : 4.6/5 (65 download)

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Book Synopsis Designs and Prototypes of Mobile Robots by : Marco Ceccarelli

Download or read book Designs and Prototypes of Mobile Robots written by Marco Ceccarelli and published by Momentum Press. This book was released on 2015-06-09 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: For several decades now, mobile robots have been integral to the development of new robotic systems for new applications, even in nontechnical areas. Mobile robots have already been developed for such uses as industrial automation, medical care, space exploration, demining operations, surveillance, entertainment, museum guides and many other industrial and non-industrial applications. In some cases these products are readily available on the market. A considerable amount of literature is also available; not all of which pertains to technical issues, as listed in the chapters of this book and its companion. Readers will enjoy this book and its companion and will utilize the knowledge gained with satisfaction and will be assisted by its content in their interdisciplinary work for engineering developments of mobile robots, in both old and new applications. This book and its companion can be used as a graduate level course book or a guide book for the practicing engineer who is working on a specific problem which is described in one of the chapters. The companion volume for this book, Mobile Robots for Dynamic Environments, is also available from Momentum Press.