Modelling, Optimization and Control for Humanoid Motion
Team and former members
Francois Keith : Post-Doc (2011-) on "Making Romeo walk".
Zohaib Aftab : PhD student (2009-) on "Modeling of human balance under perturbations" in collaboration with Thomas Robert (IFSTTAR).
Mehdi Benallegue : PhD student (2009-) on "Synchronization of robot motions with human motions" in collaboration with Abderrahmane Kheddar (JRL).
Andrei Herdt : PhD student (2009-) on "Model Predictive Control for humanoid walking robots".
Dimitar Dimitrov : Former Post-Doc (2007) on "Fast computation of MPC schemes for humanoid walking robots", then joined the Orebro University, Sweden.
Matthieu Guilbert : Former PhD student (2004-2007) on "Online optimization of complex robot applications under real physical limitations" in collaboration with Staubli Robotics, then joined Adept Technology.
Sophie Chareyron : Former PhD student (2002-2005) on "Stability analysis of non-smooth dynamical systems, with an application to walking robots", then joined the Gipsa-Lab in Grenoble, France.
Fabien Jammes : Former Engineer (2006-2008) on "Inertial sensor based motion capture", then joined TracEdge.
Remy Mozul : Former Engineer (2005-2007) on the "Development of the HuMAnS toolbox", then joined the Laboratoire de Mecanique et Genie Civil in Montpellier, France.
Florence Billet : Former Engineer (2003-2005) on the "Development of the HuMAnS toolbox", then joined the INRIA Sophia, France.
Sebastien Jarde : Former Engineer (2002-2004) on the "Realization of advanced control laws on the BIP humanoid walking robot", then joined Dassault Systems.
The HuMAnS toolbox, for Humanoid Motion Analysis and Simulation, is a research oriented software written in Maple, Scilab, C and C++. It generates analytical models of robots and humans, manipulates them numerically for simulation, control design, posture and trajectory optimization, motion capture, stability analysis. One unique feature is its capacity to manipulate analytical models openly and generate efficient code from them which is then directly connected with optimization and hybrid (Event Driven) simulation tools.
2009 - 2011
Aldebaran Robotics, Voxler, SpirOps, AsAnAngel, Acapela Group France, Universite de Versailles Saint Quentin, Universite Paul Verlaine - Metz, LIMSI, LAAS, CEA-LIST, ETIS, IRCAM, LPPA, Telecom-ParisTech, Institut de la Vision
The goal of the FUI funded Romeo project is to develop a humanoid robot that can act as a comprehensive assistant for persons suffering from loss of autonomy. The robot has to be able to interact with familiar objects and movements (open and close a door, grasp a glass, a bottle, a bunch of keys...). Voice and gestures being the principal means of communication with the robot, it will have to understand what is said to him, carry out simple discussions and even feel intentions and emotions in order to deduce the actions it has to realize. Our goal in this project is to develop the motion synthesis and control algorithms of the robot.
2009 - 2011
CNRS/AIST JRL, LAAS
The goal of the ANR-JCJC funded R-Blink project is to explore high speed decision making by a humanoid robot for motion generation.
2006 - 2008
CEA-LETI, CS, Skis Rossignol
The goal of the ANR-RNTL funded Slalom project was to produce a system for motion capture of dynamic motions based on a set of micro inertial sensors (accelerometers and magnetometers) distributed over the body of a person. This specific choice of sensors allows low cost and low consumption but induces a lack in the necessary data for reconstructing the motion of the person. Our goal in this project was to couple the sensor signals with a biomechanical model of the motion of a human in a classical Extended Kalman Filter.
2004 - 2007
LIRMM, MXM, Centre Propara / INSERM
The goal of the RNTS funded Mimes project was to develop numerical methods to synthetize and simulate stimulation patterns for the rehabilitation to standing and walking of paraplegic patients through Functionnal Eletric Stimulation, based on a new physiological model of muscle contraction presenting a nonsmoothness which can be represented as an LCP. Our goal in this project was to propose a simulation tool integrating both the nonsmoothness of this muscle model and the nonsmoothness of the standing and walking motions (nonsmoothness in the mechanical contact between the feet and the ground). This led to the first distribution of the HuMAnS toolbox.
Sep 2002 - Aug 2006
ETH Zurich (CH), University of Bristol (UK), Tilburg university (NL), University of Saint-Etienne (F), Technical University of Catalonia (SP), University of Naples (IT), Consorzio Ricerche Benevento CRB (IT), Delft University (NL), University of Twente (NL), University of Bath (UK), University of Cambridge (UK), Technological University of Eindhoven (NL), University of Montpellier 2 (F), University of Roma Tor Vergata (I), Imperial College London (UK), University College London (UK)
The goal of the EC FP5-IST funded Siconos project was to study complementarity dynamical systems, a class of hybrid dynamical systems.
Martine Eckert; Mitsuhiro Hayashibe ; David Guiraud ; Pierre-Brice Wieber; Philippe Fraisse
Nadia Magnenat-Thalmann and Jian J. Zhang and David D. Feng. Recent Advances in the 3D Physiological Human, Springer London, pp. 121-131, Nov. 2009, 978-1-84882-564-2 (Print) 978-1-84882-565-9 (Online)