Adaptive Whole-Body Manipulation in Human-to-Humanoid Multi-Contact Motion Retargeting

Submitted to Humanoids 2017International audienceWe propose a multi-robot quadratic program (QP) controller for retargeting of a human's multi-contact loco-manipulation motions to a humanoid robot. Using this framework , the robot can track complex motions and automatically adapt to objects in the environment that have different physical properties from those that were used to provide the human's reference motion. The whole-body multi-contact manipulation problem is formulated as a multi-robot QP, which optimizes over the combined dynamics of the robot and any manipulated objects. The multi-robot QP maintains a dynamic partition of the robot's tracking links into fixed support contact, manipulation contact, and contact-free tracking links, which are re-partitioned and re-instantiated as constraints in the multi-robot QP every time a contact event occurs in the human motion. We present various experiments (bag retrieval, door opening, box lifting) using human motion data from an Xsens inertial motion capture system. We show in full-body dynamics simulation that the robot is able to perform difficult single-stance motions as well as multi-contact-stance motions (including hand supports), while adapting to objects of varying inertial properties

"A model-driven approach for designing multi-platform user interface dialogues": dialogues specification

Human-computer interaction becomes sophisticated, multimodal and multi device and needs to be well-designed with the aim of facilitating application correction (i.e. to correcting errors/bugs in the application) or extension (i.e. adding new functionalities or modifying existing tasks). This thesis is focused on building a methodology of designing and specifying User Interface (UI) behaviour. The Unified Modelling Language (UML) is used to describe in detail the conceptual model and to define all its objects. The methodology flux diagram is provided with the specification of the consistency and the completeness properties of the transformation model. To support the methodology, we implement a graphic Dialog Editor in which Models are organized in three levels (abstract, concrete and final) according to Cameleon Reference Framework (CFR) and, whose process respects the Model Driven Engineering (MDE) approach. Furthermore, the use of Dialog Editor is illustrated through a simple exam...Les interfaces Homme-Machine deviennent de plus en plus complexes. Leur conception nécessite des nouveaux outils et/ou méthodes. En exploitant l'aproche orienté-modèle, cette thèse repond à ce besoin en proposant une méthodologie de conception des dialogues multi-plateform