- At ENSC , 109 avenue Roul, 33405 Talence cedex, France
- At Inria , 200 rue vieille tour, 33405 Talence cedex, France
- Principal investigator of ANR Pacbot
- President of the labelling committee Aquitaine robotics Cluster
- Innovative Industrial Animation: | Aquitaine robotics Cluster | Pôle Aérospace Valley | GIS Albatros|
- Erdös number = 3
Research | Scholar google | Publications in Hal | Videos |
Keywords: Robotics, Cobotics, Human Posture Analysis, Human-robot Interaction, Cable-driven robot, Parameters Identification, Calibration …
Industrial Collaborations | AKKA | Airbus | Solvay | Farm3 | Stellantis|
PhD Students
- 2022-2025, Alexis Boulay, Cifre Farm3 , Assisting the human by transferring skills to the robot in teleoperated vertical agriculture.
- 2021-2024, Benjamin Camblor, ANR Pacbot, Shared Situation Awareness for task planning between a human and a robot
- 2020-2023, Raphaël Bousigues, with INRS et EPI Larsen, Use of collaborative robots in optimizing task learning by exploiting motor variability
- 2020-2023, Antun Skuric, Lichie, Aibus, A coupled view of the physical capabilities of the human-robot dyad for online quantitative assessment of assistance needs
- 2020-2023, Nicolas Torres Alberto, Cifre Stellantis, Synthesis and dynamic analysis of the shared workspace for safety in collaborative robotics
- 2018-2021, Nassim Benhabib, Inria/Région NA, Design and control methodology of a collaborative robotic system to assist and secure the gestures of an operator
- Past | Olfa Jemma | Jessica Colombel | Aurélien Massein | Thibault Gayral | Julien Alexandre dit Sandretto | Julien Hubert |
My publications
Journal articles 24 documents
Conference papers 24 documents
Preprints 24 documents
Thesis 24 documents
Reports 24 documents
Book chapters 24 documents
Patents 24 documents
Related topics #ddaney
The SHAARE associate team is created in 2024 between the IRiS lab at KAIST and the Auctus team at Inria, to share our complementary methodological orientations in haptic shared control. Together, we aim at developing shared-control approaches that, either, better guide the human through adaptive haptic guidance, or adjust the robot behavior according to the human gestures.
The IRiS lab develops virtual-fixture feedback, generated from a task description given by the user. Our partner also …
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Paper Abstract Robots require the ability to autonomously and continuously react to unexpected online changes in the task definition and in the environment, especially those cohabited with humans. To react to these changes, the task, from the current state up to the finish, must instantly be reconsidered. This implies a prohibitive re-computation cost.
This paper proposes a modular control architecture based on Model Predictive Control, that offers a good compromise between optimally achieving …
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Contexte Dans le cadre des tâches de télérobotique et de collaboration homme-robot, il est essentiel de connaître à tout moment la position des objets dans l’environnement du robot. Cela peut être réalisé à l’aide de divers capteurs : parmi ceux-ci, les systèmes de motion capture constituent une option intéressante.
Ces systèmes correspondent à un ensemble de caméras infrarouges, capables de déterminer les poses 3D de corps rigides à haute fréquence. Cependant, l’estimation de ces poses peut …
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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. This controller computes …
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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 …
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