Sliding mode bilateral control and four channels scheme control comparison of a force reflecting master/slave teleoperator

International audienceThe work completed through this paper made it possible to study and compare various coupling schemes of bilateral control in force reflecting teleoperation, by concretely implementing them on a 1DOF master/slave demonstrator. With this intention, we applied and tested two principal schemes, the sliding mode scheme and the four channels data transmission scheme in which the two systems (master and slave) are tracked mutually either in force and position. Thus, according to the architecture, transparency and stability of the coupled system were analyzed either in free motion or when colliding with a stiff and rigid environment

Dynamic lifting motion for humanoid robots

Abstract-This paper describes a motion generation method for dynamic lifting by a humanoid robot. The proposed technique suggests the possibility of taking advantage of the whole body motion in order to facilitate the lifting movement. In particular, the idea is to perform a preliminary motion in order to generate a momentum which is instantaneously transferred to the object as an impulsive force. This allows the humanoid to lift up an object that could not be lifted up only by continuous force. However an impulsive force may make the humanoid unstable. Then, we propose to set the center of percussion (CoPn) of the whole system at the center of the support polygon of the humanoid when it lifts up the object. We also propose a design method of a preliminary motion of the humanoid that generates a sufficient momentum to lift up an object without any slip, tumble and hop of the whole system. The effectiveness of the proposed method is confirmed by simulation and experiment

Contrat Immersens: Systems and Methods of Interaction, Report + Demonstrators, Deliverable D4.2.1 (Task 4.3)

Contrat Immersens: Systems and Methods of Interaction, Report + Demonstrators, Deliverable D4.2.1 (Task 4.3

Gaze-based hints during child-robot gameplay

This paper presents a study that examines whether gaze hints provided by a robot tutor influences the behavior of children in a card matching game. In this regard, we conducted a within-subjects experiment, in which children played a card game “Memory” in the presence of a robot tutor in two sessions. In one session (Help), the robot tutor gives gaze hints to help children find matching cards and, in the other session (No_Help), the robot tutor does not provide help to the children. Gaze hints involved looking toward the correct matching cart. We analyzed the child-robot interaction regarding execution performance, gaze behavior, and level of engagement. Children performance was measured using the number of trials and overall time used to complete the game. We found that children used significantly fewer trials in the Help condition than in the No_Help condition. In addition, there were more instances of mutual gaze in the Help condition than in the No_Help condition. These findings suggest that designing a robot with dynamic gaze increases the effectiveness of the robot tutor as a helping agent