HapticV1, France, Analysis, bibRecord, 000408

A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction

Identifieur interne : 000408 ( France/Analysis ); précédent : 000407; suivant : 000409

A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction

Auteurs : Abderrahmane Kheddar [France] ; Aude Billard [Suisse]

Source :

RBID : Hal:lirmm-00781537

Abstract

We propose a solution for whole-body humanoid haptic sensing and safe interaction that is based on combining layered three-level modules. The inner module (closest to the link) consists in a bumper attached to the link through few force pressure units mounted in a way to measure the external wrench acting on the link. The second module, covering the bumper, consists of a thin matrix of different pressure tactile units, which main role is to detect contact locations and secondarily contact pressure distributions. The third module, covering the previous one, being a compliant foam which main role is to ensure safe interaction and robust contact formation. This paper focuses on the tactile matrix concept and its realization, the obtained results are reported.

Url:

http://hal-lirmm.ccsd.cnrs.fr/lirmm-00781537

DOI: 10.1109/ROBIO.2011.6181491

Affiliations:

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

to stream Hal, to step Corpus: 000039
to stream Hal, to step Curation: 000039
to stream Hal, to step Checkpoint: 000245
to stream Main, to step Merge: 002829
to stream Main, to step Curation: 002799
to stream Main, to step Exploration: 002799
to stream France, to step Extraction: 000408

Links to Exploration step

Hal:lirmm-00781537

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction</title>
<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="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="Billard, Aude" sort="Billard, Aude" uniqKey="Billard A" first="Aude" last="Billard">Aude Billard</name>
<affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-404965" status="INCOMING"><orgName>LASA: Learning Algorithms and Systems Laboratory</orgName>
<desc><address><country key="CH"></country>
</address>
</desc>
<listRelation><relation active="#struct-5813" type="direct"></relation>
<relation active="#struct-302851" type="indirect"></relation>
</listRelation>
<tutelles><tutelle active="#struct-5813" type="direct"><org type="laboratory" xml:id="struct-5813" status="VALID"><orgName>Ecole Polytechnique Fédérale de Lausanne</orgName>
<orgName type="acronym">EPFL</orgName>
<desc><address><addrLine>Swiss Federal Institute of Technology EPFL-FSTI IEL-LTS2, Station 11 Lausanne 1015 - Switzerland</addrLine>
<country key="CH"></country>
</address>
<ref type="url">http://www.epfl.ch/</ref>
</desc>
<listRelation><relation active="#struct-302851" type="direct"></relation>
</listRelation>
</org>
</tutelle>
<tutelle active="#struct-302851" type="indirect"><org type="institution" xml:id="struct-302851" status="VALID"><orgName>Ecole Polytechnique Fédérale de Lausanne</orgName>
<orgName type="acronym">EPFL</orgName>
<desc><address><addrLine>CH-1015 Lausanne Suisse Switzerland </addrLine>
<country key="CH"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>Suisse</country>
<placeName><settlement type="city">Lausanne</settlement>
<region nuts="3" type="region">Canton de Vaud</region>
</placeName>
<orgName type="university">École polytechnique fédérale de Lausanne</orgName>
<placeName><settlement type="city">Lausanne</settlement>
<region nuts="3" type="region">Canton de Vaud</region>
</placeName>
<orgName type="university">École polytechnique fédérale de Lausanne</orgName>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">HAL</idno>
<idno type="RBID">Hal:lirmm-00781537</idno>
<idno type="halId">lirmm-00781537</idno>
<idno type="halUri">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00781537</idno>
<idno type="url">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00781537</idno>
<idno type="doi">10.1109/ROBIO.2011.6181491</idno>
<date when="2011-12-07">2011-12-07</date>
<idno type="wicri:Area/Hal/Corpus">000039</idno>
<idno type="wicri:Area/Hal/Curation">000039</idno>
<idno type="wicri:Area/Hal/Checkpoint">000245</idno>
<idno type="wicri:Area/Main/Merge">002829</idno>
<idno type="wicri:Area/Main/Curation">002799</idno>
<idno type="wicri:Area/Main/Exploration">002799</idno>
<idno type="wicri:Area/France/Extraction">000408</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction</title>
<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="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="Billard, Aude" sort="Billard, Aude" uniqKey="Billard A" first="Aude" last="Billard">Aude Billard</name>
<affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-404965" status="INCOMING"><orgName>LASA: Learning Algorithms and Systems Laboratory</orgName>
<desc><address><country key="CH"></country>
</address>
</desc>
<listRelation><relation active="#struct-5813" type="direct"></relation>
<relation active="#struct-302851" type="indirect"></relation>
</listRelation>
<tutelles><tutelle active="#struct-5813" type="direct"><org type="laboratory" xml:id="struct-5813" status="VALID"><orgName>Ecole Polytechnique Fédérale de Lausanne</orgName>
<orgName type="acronym">EPFL</orgName>
<desc><address><addrLine>Swiss Federal Institute of Technology EPFL-FSTI IEL-LTS2, Station 11 Lausanne 1015 - Switzerland</addrLine>
<country key="CH"></country>
</address>
<ref type="url">http://www.epfl.ch/</ref>
</desc>
<listRelation><relation active="#struct-302851" type="direct"></relation>
</listRelation>
</org>
</tutelle>
<tutelle active="#struct-302851" type="indirect"><org type="institution" xml:id="struct-302851" status="VALID"><orgName>Ecole Polytechnique Fédérale de Lausanne</orgName>
<orgName type="acronym">EPFL</orgName>
<desc><address><addrLine>CH-1015 Lausanne Suisse Switzerland </addrLine>
<country key="CH"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>Suisse</country>
<placeName><settlement type="city">Lausanne</settlement>
<region nuts="3" type="region">Canton de Vaud</region>
</placeName>
<orgName type="university">École polytechnique fédérale de Lausanne</orgName>
<placeName><settlement type="city">Lausanne</settlement>
<region nuts="3" type="region">Canton de Vaud</region>
</placeName>
<orgName type="university">École polytechnique fédérale de Lausanne</orgName>
</affiliation>
</author>
</analytic>
<idno type="DOI">10.1109/ROBIO.2011.6181491</idno>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass></textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">We propose a solution for whole-body humanoid haptic sensing and safe interaction that is based on combining layered three-level modules. The inner module (closest to the link) consists in a bumper attached to the link through few force pressure units mounted in a way to measure the external wrench acting on the link. The second module, covering the bumper, consists of a thin matrix of different pressure tactile units, which main role is to detect contact locations and secondarily contact pressure distributions. The third module, covering the previous one, being a compliant foam which main role is to ensure safe interaction and robust contact formation. This paper focuses on the tactile matrix concept and its realization, the obtained results are reported.</div>
</front>
</TEI>
<affiliations><list><country><li>France</li>
<li>Suisse</li>
</country>
<region><li>Canton de Vaud</li>
</region>
<settlement><li>Lausanne</li>
</settlement>
<orgName><li>École polytechnique fédérale de Lausanne</li>
</orgName>
</list>
<tree><country name="France"><noRegion><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name>
</noRegion>
</country>
<country name="Suisse"><region name="Canton de Vaud"><name sortKey="Billard, Aude" sort="Billard, Aude" uniqKey="Billard A" first="Aude" last="Billard">Aude Billard</name>
</region>
</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 000408 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/France/Analysis/biblio.hfd -nk 000408 | 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-00781537
   |texte=   A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction
}}

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

A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction

A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction

Source :

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