Jessica COLOMBEL

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 … [Read More]

Assistance or collaborative robots aim to preserve the health and well-being of people, in particular by promoting interactions during phases of fragility. There are many ways to interact with robots, but this project only focus on human motion. The goal of the BioMotion project is to find the modalities of representation of movement allowing to extract physical and cognitive information. A first problem is to collect physical information and, in a more original way, cognitiv information of the … [Read More]