8 papers
Gradient based Bilevel for Inverse Optimal Control, a Riemannian approach
Ahmed-Manaf Dahmani, Vincent Bonnet, David Daney +1
Inverse Optimal Control (IOC) aims to recover the cost function that explains observed trajectories as solutions of an optimal control problem. Classical IOC formulations rely on b…
Selecting haptic guidance models in teleoperation: guidelines from a comparative user study
Alexis Boulay, Margot Vulliez, David Daney
Haptic guidance in teleoperation enhances operator performance through force feedback. This paper presents guidelines to select the most appropriate model considering the task, the…
Humanoid Robot Whole-body Geometric Calibration with Embedded Sensors and a Single Plane
Thanh D V Nguyen, Vincent Bonnet, Pierre Fernbach +2
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significan…
Simulation Study of the Upper-limb Wrench Feasible Set with Glenohumeral Joint Constraints
Nasser Rezzoug, Antun Skuric, Vincent Padois +1
The aim of this work is to improve musculoskeletal-based models of the upper-limb Wrench Feasible Set i.e. the set of achievable maximal wrenches at the hand for applications in co…
Approximating robot reachable space using convex polytopes
Antun Skuric, Vincent Padois, David Daney
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a g…
On-line feasible wrench polytope evaluation based on human musculoskeletal models: an iterative convex hull method
Antun Skuric, Vincent Padois, Nasser Rezzoug +1
Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting humancentered robot control, where the robot continuously adapts its assistance leve…
Efficient Set-Based Approaches for the Reliable Computation of Robot Capabilities
Joshua Pickard, Vincent Padois, Milan Hladík +1
To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily accoun…
On-line force capability evaluation based on efficient polytope vertex search
Antun Skuric, Vincent Padois, David Daney
Ellipsoid-based manipulability measures are often used to characterize the force/velocity task-space capabilities of robots. While computationally simple, this approach largely app…