11 accepted papers
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site’s layout. Online 3D mapping is a proven strategy to tackle this challenge, as it enables the teleoperator to progressively explore the sit
A biped robot walking in a crowd must avoid falls and collisions at the same time. The latter is usually addressed through Passive Safety (PS), which guarantees that the robot is at rest when a collision is inevitable. Since PS may limit the robot's mobility, the purpose of this work is to introduce…
We propose a combination of Model Predictive Control and Lexicographic Programming to address complex scenarios with conflicting goals related to various aspects of comfort and safety of passengers in a transit bus, generating different deceleration profiles depending on the speed of the bus and dis…
With new, safer manipulator robots, the probability of serious injury due to collisions with humans remains low (5%), even at speeds as high as 2 m.s-1. Collisions would better be avoided nevertheless, because they disrupt the tasks of both the robot and the human. We propose in this paper to equip…
We control a biped robot moving in a crowd with a Model Predictive Control (MPC) scheme that generates stable walking motions, with automatic footstep placement. Most walking strategies propose to re-plan the walking motion to adapt to changing environments only once at every footstep. This is becau…
We propose to quantify the effect of sensor and actuator uncertainties on the control of the center of mass and center of pressure in legged robots, since this is central for maintaining their balance with a limited support polygon. Our approach is based on robust control theory, considering uncerta
We want to enable the robot to reorient its feet in order to face its direction of motion. Model Predictive Control schemes for biped walking usually assume fixed feet rotation since adapting them online leads to a nonlinear problem. Nonlinear solvers do not guarantee the satisfaction of nonlinear c…
We propose in this paper a new active perception scheme based on Model Predictive Control under constraints for generating a sequence of visual servoing tasks. The proposed control scheme is used to compute the motion of a camera whose task is to successively observe a set of robots for measuring th…
This paper is about the design of humanoid walking pattern generators to be used for physical collaboration. A particular use case is a humanoid robot helping a human to carry large and/or heavy objects. To do this, we construct a reduced model which takes into account physical interaction. This is
The goal of this paper is to present a real-time controller for an omnidirectional wheeled humanoid robot which can be strongly disturbed and tilt around its wheels. It is based on two linear model predictive controllers, managed by a tilt supervisor, which detects changes of the dynamic model cause…
One way to deal with occlusions or loss of tracking of the visual features used for visual servoing tasks is to predict the feature behavior in the image plane when the measurements are missing. Different prediction and correction methods have already been proposed in the literature. The purpose of…