· PDF fileÉtude et development d'un manipulateur mobile à deux bras pour...
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Architectures Dynamiques Reconfigurables pour Systèmes Embarqués
Autonomes Mobiles
Reconfigurable and Dynamic Architectures for Mobile Autonomous Embedded Systems
The ADREAM project
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A team of cleaning robots
Several semi-autonomous wheelchairs
Several assistive or
companion robots
A group of service robots
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An Autonomous Interactive Robot guide
Robot Searches for interaction when left alone
Establishes a common task
Programming a H/R task involving several perception and interaction modalities
Abandons mission if guided person stops following
Rackham at « Cité de l’Espace »:
Participating labs:
LAAS, ToulouseEPFL, LausanneIPA, StuttgartKTH, StockholmU. KarlsruheU. BielefeldU. HertfordshireU. AmsterdamVU. Brussels
Funded by the EU FP6 -IST- FET
“Beyond Robotics” Program
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aims developing key components of the next generation of robots, including industrial robots and assist devices (robots of non-industrial applications, e.g. for service, health-care, and entertainment), designed to share the environment and to physically interact with people.
No human aware motion Human aware motion with 2 motion tasks:
• Follow the object path • Look to the object
développement d'un robot mobile autonome équipé de deux bras manipulateurs, système de vision
porter assistance à des personnes handicapées
tâches quotidiennes de manipulation :
- Servir un verre d'eau
- Ramasser un objet
Identification du besoin, validation
Étude et development d'un manipulateur mobile à deux bras pour l'assistance aux personnes handicapées.
LAAS LIRMM Montpellier LISIF Ivry sur seine CEA-LIST Clinique Union Mutualiste PROPARA
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Designing and developing a network of robots that in a cooperative way interact with human beings and the environment for tasks of guidance and assistance, transportation of goods and persons, and surveillance in urban areas
Functional Layer
Supervisor / Task Allocation
Robot 1
Functional Layer
Supervisor / Task Allocation
Robot n
Ethernet
URUS Wireless network
GSM Interface
Environment Perception
Central Station
Task Allocation
GSM
Network
URUS Global Architecture
Human Supervision
ad-hoc Manet for local /real-time needs (formation ..)
• Two methods integrated on FZI and LAAS robots for RFID-based navigation in a structured environment
• Ground-merged short range RFID-barriers: topological localization between areas
• Long range RFIDs in the environment: metrical localization from directional antennas
The FZI and LAAS robots
equipped with RFID readers
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Aerial and Terrestrial
Multi-Robot Platform
Embedded Systems
Distributed Robotic Functions
Model Based Adaptability
Management
Cooperative Multi-Agent Systems
Distributed Autonomous Self-Adaptive Systems
Control Architectures for Multi-robot Cooperation
Execution Control LevelExecution Controller
Decisional LevelProceduralExecutive
(open-PRS)
Temporal PlannerTemporal Executive
(IxTeT)
Functional Level
Communication
SpeedP3D
PosPOM
PosVME
Science
Im. St.Scorrel
Camera Im.
Pos RFLEXPan-Tilt
Unit
DEM Env
GoalNAV
Aspect Obs
Laser RF
Scan
NDD Speed
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Execution Control LevelExecution Controller
Decisional LevelProceduralExecutive
(open-PRS)
Temporal PlannerTemporal Executive
(IxTeT)
Functional Level
Communication
SpeedNAV
PosPOM
PosTarget
Camera Im. Pos PilotePan-TiltUnit
FormationPos
cooperation
distributed task achievement
coordination
• Visual-based navigation taking into account obstacles, occlusions, saturations, human-robot joint motions… • Methods: task function framework, integration control-tracking, “multicriteria” analysis
and synthesis of visual servos
Capture de mouvement humain par vision binoculaire
Estimation des ddls pour interprétation de postures
A Control Architecture for a Cognitive Assistant
SHARY: Supervision for a Cognitive Assistant Human Aware Task Planning
Attention Sharing
Soft Motion
Perspective Taking
Human Aware Manipulation
Human Aware Navigation
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Sensors and devices
Fixed cameras
Environment sensors
Physiological data
Interface devices and “things”
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