Cognitive approach for representing the haptic physical human-humanoid interaction
Identifieur interne : 000106 ( Hal/Curation ); précédent : 000105; suivant : 000107Cognitive approach for representing the haptic physical human-humanoid interaction
Auteurs : Antoine Bussy [France]Source :
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Abstract
Robots are very close to arrive in our homes. But before doing so, they must master safe and efficient physical interaction with humans. Such capacities are essential for them to live among us, and assit us in various everyday tasks, such as carrying heavy and cumbersome objects. In this thesis, we focus on endowing the biped humanoid robot HRP-2 with the capacity to perform haptic joint actions with humans. First, we study how human dyads collaborate to transport a cumbersome object. From this study, we define a global motion primitives' model that we use to implement a proactive behavior on the HRP-2 robot, so that it can perform the same task with a human. Then, we assess the performances of our proactive control scheme by perfoming user studies. Finally, we expose several potential extensions to our work: self-stabilization of a humanoid through physical interaction, generalization of the motion.
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Finally, we expose several potential extensions to our work: self-stabilization of a humanoid through physical interaction, generalization of the motion.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Cognitive approach for representing the haptic physical human-humanoid interaction</title><title xml:lang="fr">Approche cognitive pour la représentation de l'interaction proximale haptique entre un homme et un humanoïde</title><author role="aut"><persName><forename type="first">Antoine</forename><surname>Bussy</surname></persName><email>antoine.bussy@lirmm.fr</email><idno type="halauthor">832086</idno><affiliation ref="#struct-395113"></affiliation><affiliation ref="#struct-22478"></affiliation></author><editor role="depositor"><persName><forename>François</forename><surname>Keith</surname></persName><email>keith@lirmm.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2014-07-02 00:32:37</date><date type="whenModified">2016-01-20 14:45:12</date><date type="whenReleased">2014-07-02 11:34:28</date><date type="whenProduced">2013-10-10</date><date type="whenEndEmbargoed">2014-07-02</date><ref type="file" target="https://tel.archives-ouvertes.fr/tel-01017162/document"><date notBefore="2014-07-02"></date></ref><ref type="file" n="1" target="https://tel.archives-ouvertes.fr/tel-01017162/file/2013_phdthesis_bussy.pdf"><date notBefore="2014-07-02"></date></ref></edition><respStmt><resp>contributor</resp><name key="175225"><persName><forename>François</forename><surname>Keith</surname></persName><email>keith@lirmm.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">tel-01017162</idno><idno type="halUri">https://tel.archives-ouvertes.fr/tel-01017162</idno><idno type="halBibtex">bussy:tel-01017162</idno><idno type="halRefHtml">Robotics [cs.RO]. Université Montpellier II - Sciences et Techniques du Languedoc, 2013. English</idno><idno type="halRef">Robotics [cs.RO]. Université Montpellier II - Sciences et Techniques du Languedoc, 2013. English</idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="IDH" p="LIRMM">Interactive Digital Humans</idno><idno type="stamp" n="LIRMM">Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</idno></seriesStmt><notesStmt></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Cognitive approach for representing the haptic physical human-humanoid interaction</title><title xml:lang="fr">Approche cognitive pour la représentation de l'interaction proximale haptique entre un homme et un humanoïde</title><author role="aut"><persName><forename type="first">Antoine</forename><surname>Bussy</surname></persName><email>antoine.bussy@lirmm.fr</email><idno type="halAuthorId">832086</idno><affiliation ref="#struct-395113"></affiliation><affiliation ref="#struct-22478"></affiliation></author></analytic><monogr><imprint><date type="dateDefended">2013-10-10</date></imprint><authority type="institution">Université Montpellier II - Sciences et Techniques du Languedoc</authority><authority type="school">Information, Structures, Systèmes</authority><authority type="supervisor">André Crosnier(crosnier@lirmm.fr)</authority><authority type="jury">Abderrahmane Kheddar (co-directeur)</authority><authority type="jury">Florent Lamiraux (rapporteur)</authority><authority type="jury">Étienne Burdet (rapporteur)</authority><authority type="jury">Ganesh Gowrishankar (examinateur)</authority><authority type="jury">Ken'ichi Yano (examinateur)</authority></monogr><ref type="seeAlso">http://www.biu-montpellier.fr/florabium/jsp/nnt.jsp?nnt=2013MON20090</ref></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">Haptics</term><term xml:lang="en">Physical Interaction</term><term xml:lang="en">Human-Robot Interaction</term><term xml:lang="en">Humanoid Robot</term><term xml:lang="fr">Haptique</term><term xml:lang="fr">Interaction Physique</term><term xml:lang="fr">Interaction Homme-Robot</term><term xml:lang="fr">Robot Humanoïde</term></keywords><classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode><classCode scheme="halTypology" n="THESE">Theses</classCode></textClass><abstract xml:lang="en">Robots are very close to arrive in our homes. But before doing so, they must master safe and efficient physical interaction with humans. Such capacities are essential for them to live among us, and assit us in various everyday tasks, such as carrying heavy and cumbersome objects. In this thesis, we focus on endowing the biped humanoid robot HRP-2 with the capacity to perform haptic joint actions with humans. First, we study how human dyads collaborate to transport a cumbersome object. From this study, we define a global motion primitives' model that we use to implement a proactive behavior on the HRP-2 robot, so that it can perform the same task with a human. Then, we assess the performances of our proactive control scheme by perfoming user studies. Finally, we expose several potential extensions to our work: self-stabilization of a humanoid through physical interaction, generalization of the motion.</abstract><abstract xml:lang="fr">Les robots sont tout près d'arriver chez nous. Mais avant cela, ils doivent acquérir la capacité d'interagir physiquement avec les humains, de manière sûre et efficace. De telles capacités sont indispensables pour qu'ils puissent vivre parmi nous, et nous assister dans diverses tâches quotidiennes, comme porter une meuble. Dans cette thèse, nous avons pour but de doter le robot humanoïde bipède HRP-2 de la capacité à effectuer des actions haptiques en commun avec l'homme. Dans un premier temps, nous étudions comment des dyades humains collaborent pour transporter un objet encombrant. De cette étude, nous extrayons un modèle global de primitives de mouvement que nous utilisons pour implémenter un comportement proactif sur le robot HRP-2, afin qu'il puisse effectuer la même tâche avec un humain. Puis nous évaluons les performances de ce schéma de contrôle proactif au cours de tests utilisateur. Finalement, nous exposons diverses pistes d'évolution de notre travail : la stabilisation d'un humanoïde à travers l'interaction physique, la généralisation du modèle de primitives de mouvements à d'autres tâches collaboratives et l'inclusion de la vision dans des tâches collaboratives haptiques.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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