Cognitive approach for representing the haptic physical human-humanoid interaction
Identifieur interne : 001629 ( Main/Merge ); précédent : 001628; suivant : 001630Cognitive approach for representing the haptic physical human-humanoid interaction
Auteurs : Antoine Bussy [France]Source :
Descripteurs français
English descriptors
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.
Url:
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 000106
- to stream Hal, to step Curation: 000106
- to stream Hal, to step Checkpoint: 000123
Links to Exploration step
Hal:tel-01017162Le document en format XML
<record><TEI><teiHeader><fileDesc><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><name sortKey="Bussy, Antoine" sort="Bussy, Antoine" uniqKey="Bussy A" first="Antoine" last="Bussy">Antoine Bussy</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></titleStmt><publicationStmt><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:tel-01017162</idno><idno type="halId">tel-01017162</idno><idno type="halUri">https://tel.archives-ouvertes.fr/tel-01017162</idno><idno type="url">https://tel.archives-ouvertes.fr/tel-01017162</idno><date when="2013-10-10">2013-10-10</date><idno type="wicri:Area/Hal/Corpus">000106</idno><idno type="wicri:Area/Hal/Curation">000106</idno><idno type="wicri:Area/Hal/Checkpoint">000123</idno><idno type="wicri:Area/Main/Merge">001629</idno></publicationStmt><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><name sortKey="Bussy, Antoine" sort="Bussy, Antoine" uniqKey="Bussy A" first="Antoine" last="Bussy">Antoine Bussy</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></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Haptics</term><term>Human-Robot Interaction</term><term>Humanoid Robot</term><term>Physical Interaction</term></keywords><keywords scheme="mix" xml:lang="fr"><term>Haptique</term><term>Interaction Homme-Robot</term><term>Interaction Physique</term><term>Robot Humanoïde</term></keywords></textClass></profileDesc></teiHeader><front><div type="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.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001629 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 001629 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Merge
|type= RBID
|clé= Hal:tel-01017162
|texte= Cognitive approach for representing the haptic physical human-humanoid interaction
}}
| This area was generated with Dilib version V0.6.23. |  |