HapticV1, France, Analysis, bibRecord, 000209

Using vision and haptic sensing for human-humanoid haptic joint actions

Identifieur interne : 000209 ( France/Analysis ); précédent : 000208; suivant : 000210

Using vision and haptic sensing for human-humanoid haptic joint actions

Auteurs : Don Joven Agravante [France] ; Andrea Cherubini [France] ; Abderrahmane Kheddar [France]

Source :

RBID : Hal:lirmm-00908439

English descriptors

mix :
- Human and humanoid skills/cognition/interaction, Human-Robot Collaboration, Physical Human-Robot Interaction.

Abstract

Human-humanoid haptic joint actions are collaborative tasks requiring a sustained haptic interaction between both parties. As such, most research in this field has concentrated on how to use solely the robot's haptic sensing to extract the human partners' intentions. With this information, interaction controllers are designed. In this paper, the addition of visual sensing is investigated and a suitable framework is developed to accomplish this. This is then tested on examples of haptic joint actions namely collaboratively carrying a table. Additionally a visual task is implemented on top of this. In one case, the aim is to keep the table level taking into account gravity. In another case, a freely moving ball is balanced to keep it from falling off the table. The results of the experiments show that the framework is able to utilize both information sources properly to accomplish the task.

Url:

http://hal-lirmm.ccsd.cnrs.fr/lirmm-00908439

Affiliations:

France

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: 000558
to stream Hal, to step Curation: 000558
to stream Hal, to step Checkpoint: 000113
to stream Main, to step Merge: 001620
to stream Main, to step Curation: 001611
to stream Main, to step Exploration: 001611
to stream France, to step Extraction: 000209

Links to Exploration step

Hal:lirmm-00908439

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Using vision and haptic sensing for human-humanoid haptic joint actions</title>
<author><name sortKey="Agravante, Don Joven" sort="Agravante, Don Joven" uniqKey="Agravante D" first="Don Joven" last="Agravante">Don Joven Agravante</name>
<affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-395113" status="VALID"><orgName>Interactive Digital Humans</orgName>
<orgName type="acronym">IDH</orgName>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.lirmm.fr/recherche/equipes/idh</ref>
</desc>
<listRelation><relation active="#struct-181" type="direct"></relation>
<relation name="UMR5506" active="#struct-410122" type="indirect"></relation>
<relation name="UMR5506" active="#struct-441569" type="indirect"></relation>
</listRelation>
<tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"><idno type="RNSR">199111950H</idno>
<orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName>
<orgName type="acronym">LIRMM</orgName>
<date type="start">1995</date>
<desc><address><addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.lirmm.fr</ref>
</desc>
<listRelation><relation name="UMR5506" active="#struct-410122" type="direct"></relation>
<relation name="UMR5506" active="#struct-441569" type="direct"></relation>
</listRelation>
</org>
</tutelle>
<tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"><orgName>Université de Montpellier</orgName>
<orgName type="acronym">UM</orgName>
<desc><address><addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.umontpellier.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno>
<idno type="IdRef">02636817X</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Cherubini, Andrea" sort="Cherubini, Andrea" uniqKey="Cherubini A" first="Andrea" last="Cherubini">Andrea Cherubini</name>
<affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-395113" status="VALID"><orgName>Interactive Digital Humans</orgName>
<orgName type="acronym">IDH</orgName>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.lirmm.fr/recherche/equipes/idh</ref>
</desc>
<listRelation><relation active="#struct-181" type="direct"></relation>
<relation name="UMR5506" active="#struct-410122" type="indirect"></relation>
<relation name="UMR5506" active="#struct-441569" type="indirect"></relation>
</listRelation>
<tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"><idno type="RNSR">199111950H</idno>
<orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName>
<orgName type="acronym">LIRMM</orgName>
<date type="start">1995</date>
<desc><address><addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.lirmm.fr</ref>
</desc>
<listRelation><relation name="UMR5506" active="#struct-410122" type="direct"></relation>
<relation name="UMR5506" active="#struct-441569" type="direct"></relation>
</listRelation>
</org>
</tutelle>
<tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"><orgName>Université de Montpellier</orgName>
<orgName type="acronym">UM</orgName>
<desc><address><addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.umontpellier.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno>
<idno type="IdRef">02636817X</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-22478" status="VALID"><orgName>Joint Robotics Laboratory AIST & CNRS (France)</orgName>
<orgName type="acronym">JRL France</orgName>
<desc><address><addrLine>3, rue Michel-Ange, 75794 Paris Cedex 16</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.is.aist.go.jp/jrl/</ref>
</desc>
<listRelation><relation active="#struct-302425" type="direct"></relation>
<relation name="UMI3218" active="#struct-441569" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-302425" type="direct"><org type="institution" xml:id="struct-302425" status="VALID"><orgName>National Institute of Advanced Industrial Science and Technology</orgName>
<orgName type="acronym">AIST</orgName>
<desc><address><addrLine>1-1-1 Higashi, Tsukuba, Ibaraki 305-8561</addrLine>
<country key="JP"></country>
</address>
<ref type="url">http://www.aist.go.jp/index_en.html</ref>
</desc>
</org>
</tutelle>
<tutelle name="UMI3218" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno>
<idno type="IdRef">02636817X</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">HAL</idno>
<idno type="RBID">Hal:lirmm-00908439</idno>
<idno type="halId">lirmm-00908439</idno>
<idno type="halUri">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00908439</idno>
<idno type="url">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00908439</idno>
<date when="2013-11-12">2013-11-12</date>
<idno type="wicri:Area/Hal/Corpus">000558</idno>
<idno type="wicri:Area/Hal/Curation">000558</idno>
<idno type="wicri:Area/Hal/Checkpoint">000113</idno>
<idno type="wicri:Area/Main/Merge">001620</idno>
<idno type="wicri:Area/Main/Curation">001611</idno>
<idno type="wicri:Area/Main/Exploration">001611</idno>
<idno type="wicri:Area/France/Extraction">000209</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">Using vision and haptic sensing for human-humanoid haptic joint actions</title>
<author><name sortKey="Agravante, Don Joven" sort="Agravante, Don Joven" uniqKey="Agravante D" first="Don Joven" last="Agravante">Don Joven Agravante</name>
<affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-395113" status="VALID"><orgName>Interactive Digital Humans</orgName>
<orgName type="acronym">IDH</orgName>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.lirmm.fr/recherche/equipes/idh</ref>
</desc>
<listRelation><relation active="#struct-181" type="direct"></relation>
<relation name="UMR5506" active="#struct-410122" type="indirect"></relation>
<relation name="UMR5506" active="#struct-441569" type="indirect"></relation>
</listRelation>
<tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"><idno type="RNSR">199111950H</idno>
<orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName>
<orgName type="acronym">LIRMM</orgName>
<date type="start">1995</date>
<desc><address><addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.lirmm.fr</ref>
</desc>
<listRelation><relation name="UMR5506" active="#struct-410122" type="direct"></relation>
<relation name="UMR5506" active="#struct-441569" type="direct"></relation>
</listRelation>
</org>
</tutelle>
<tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"><orgName>Université de Montpellier</orgName>
<orgName type="acronym">UM</orgName>
<desc><address><addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.umontpellier.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno>
<idno type="IdRef">02636817X</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Cherubini, Andrea" sort="Cherubini, Andrea" uniqKey="Cherubini A" first="Andrea" last="Cherubini">Andrea Cherubini</name>
<affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-395113" status="VALID"><orgName>Interactive Digital Humans</orgName>
<orgName type="acronym">IDH</orgName>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.lirmm.fr/recherche/equipes/idh</ref>
</desc>
<listRelation><relation active="#struct-181" type="direct"></relation>
<relation name="UMR5506" active="#struct-410122" type="indirect"></relation>
<relation name="UMR5506" active="#struct-441569" type="indirect"></relation>
</listRelation>
<tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"><idno type="RNSR">199111950H</idno>
<orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName>
<orgName type="acronym">LIRMM</orgName>
<date type="start">1995</date>
<desc><address><addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.lirmm.fr</ref>
</desc>
<listRelation><relation name="UMR5506" active="#struct-410122" type="direct"></relation>
<relation name="UMR5506" active="#struct-441569" type="direct"></relation>
</listRelation>
</org>
</tutelle>
<tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"><orgName>Université de Montpellier</orgName>
<orgName type="acronym">UM</orgName>
<desc><address><addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.umontpellier.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno>
<idno type="IdRef">02636817X</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-22478" status="VALID"><orgName>Joint Robotics Laboratory AIST & CNRS (France)</orgName>
<orgName type="acronym">JRL France</orgName>
<desc><address><addrLine>3, rue Michel-Ange, 75794 Paris Cedex 16</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.is.aist.go.jp/jrl/</ref>
</desc>
<listRelation><relation active="#struct-302425" type="direct"></relation>
<relation name="UMI3218" active="#struct-441569" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-302425" type="direct"><org type="institution" xml:id="struct-302425" status="VALID"><orgName>National Institute of Advanced Industrial Science and Technology</orgName>
<orgName type="acronym">AIST</orgName>
<desc><address><addrLine>1-1-1 Higashi, Tsukuba, Ibaraki 305-8561</addrLine>
<country key="JP"></country>
</address>
<ref type="url">http://www.aist.go.jp/index_en.html</ref>
</desc>
</org>
</tutelle>
<tutelle name="UMI3218" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno>
<idno type="IdRef">02636817X</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
</analytic>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Human and humanoid skills/cognition/interaction</term>
<term>Human-Robot Collaboration</term>
<term>Physical Human-Robot Interaction</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">Human-humanoid haptic joint actions are collaborative tasks requiring a sustained haptic interaction between both parties. As such, most research in this field has concentrated on how to use solely the robot's haptic sensing to extract the human partners' intentions. With this information, interaction controllers are designed. In this paper, the addition of visual sensing is investigated and a suitable framework is developed to accomplish this. This is then tested on examples of haptic joint actions namely collaboratively carrying a table. Additionally a visual task is implemented on top of this. In one case, the aim is to keep the table level taking into account gravity. In another case, a freely moving ball is balanced to keep it from falling off the table. The results of the experiments show that the framework is able to utilize both information sources properly to accomplish the task.</div>
</front>
</TEI>
<affiliations><list><country><li>France</li>
</country>
</list>
<tree><country name="France"><noRegion><name sortKey="Agravante, Don Joven" sort="Agravante, Don Joven" uniqKey="Agravante D" first="Don Joven" last="Agravante">Don Joven Agravante</name>
</noRegion>
<name sortKey="Cherubini, Andrea" sort="Cherubini, Andrea" uniqKey="Cherubini A" first="Andrea" last="Cherubini">Andrea Cherubini</name>
<name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name>
</country>
</tree>
</affiliations>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/France/Analysis

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000209 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/France/Analysis/biblio.hfd -nk 000209 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    France
   |étape=   Analysis
   |type=    RBID
   |clé=     Hal:lirmm-00908439
   |texte=   Using vision and haptic sensing for human-humanoid haptic joint actions
}}

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

Using vision and haptic sensing for human-humanoid haptic joint actions

Using vision and haptic sensing for human-humanoid haptic joint actions

Source :

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri