Paper Abstract Efficient workspace sharing of collaborative robots and human operators remains an unsolved problem in the industry. This problem goes beyond the use of a priori or a posteriori safety measures and has to be tackled at the control level. To address the need of adaptation to human presence as well as to endow the robot with the ability to adapt interactively to new Cartesian targets, a linear Model Predictive Controller is proposed in this paper. [Read More]
Abstract Inverse optimal control (IOC) is a framework used in many fields, especially in robotics and human motion analysis. In this context, many methods of resolution have been proposed in the literature. This article presents the Projected Inverse Optimal Control (PIOC), an approach that puts forward a simple and comprehensive view of IOC methods. Especially, we explain how the presence of uncertainties can be properly addressed in our view. Thus, this article highlights how classical methods can be understood as projections of trajectories in the solution space of the underlying Direct Optimal Control (DOC) problem. [Read More]
Reachable space of robotic manipulators has complex geometry and is often hard to characterise, therefore it is usually calculated in advance by the robot manufacturers and given as an image in their datasheets (as shown on the image on the right). However these images are hard to exploit as they are not analytical solutions to this problem. Even if we would have an analytical solution to this problem it would still not include in its consideration robot’s dynamics, its payload or its actuator torque limits. [Read More]

## LEGO manipulation

The aim of this project is to use pieces of softwares developed at Auctus to manipulate LEGO. This work can be related to experiments for Benjamin Camblor’s thesis and the PacBot project. Live demonstration Here is a video of a manipulation demo. The robot realizes three tasks: Remove a single LEGO on a tower Put LEGO on the plate Put LEGO on another LEGO All this work is done using the softwares developed at Auctus, namely : [Read More]

## End of the glovebox project

The glovebox project started the 1st of August 2021 and lasted one year. During this year we developped a demonstrator for a robot assisted glovebox. Live demonstration Here is a video of the demonstrator in action. The robot realises three tasks: Bring unreachable tools/vials Serve as a 3rd arm to hold tools/vials Bring preparation to some device All this work is done using the softwares developped at Auctus, namely : [Read More]
A propos du centre ou de la direction fonctionnelle Le centre Inria Bordeaux - Sud-Ouest est un des neuf centres d’Inria et compte une vingtaine d’équipes de recherche. Le centre Inria est un acteur majeur et reconnu dans le domaine des sciences numériques. Il est au cœur d’un riche écosystème de R&D et d’innovation : PME fortement innovantes, grands groupes industriels, pôles de compétitivité, acteurs de la recherche et de l’enseignement supérieur, laboratoires d’excellence, institut de recherche technologique… [Read More]
Iterative convex hull is a polytope evaluation algorithm developed for the generic class of the linear algebra problems: $$A\bm{x} = B\bm{y},\qquad \bm{y} \in [\bm{y} _{min}, \bm{y} _{max}]$$ This type of problems can be found in many different domains, one of them being the wrench capacity analysis of the human musculoskeletal models. In this paper the method overview is given as well as the verified on the assistive robotics scenario. [Read More]

## MOVER

The MOVER project is related to the study of morphological and motor variability of a human operator. Its goal is to develop tools for representing different operators with varying morphologies, mouvement amplitudes and motor variability for ergonomics purposes. Motor variability : an appropriate level of motor variability can contribute to lower the incidence of musculoskeletal disorder of a human operator. In this framework, the aim of the project is to get a better insight into the motor variability of a human operator through different experimental protocols. [Read More]

## PacBot

The PacBot project aims to design a semi-autonomous cobotic system for assistance, capable of selecting, synchronising and coordinating tasks distributed between the human and the robot by adapting to different types of variability in professional gestures, while anticipating dangerous situations. The orchestration of tasks between the human and the robot is difficult because it must answer the question of the distribution of roles within the couple according to the physical and decision-making abilities and constraints as well as the consequences of their interactions. [Read More]
Paper Abstract In this paper, the concept of signaling motions of a robot interacting with a human is presented. These motions consist in using the redundant degrees of freedom of a robot performing a task as new means of meaningful robot-human communication. They are generated through quasi-static torque control, in consistency with the main robot task. A double within-subject (N=16) study is conducted to evaluate the effects of two signaling motions on the performance of a task by participants and on their behavior towards the robot. [Read More]