The Poppy Humanoid Robot: Leg Design for Biped Locomotion

International audienceWe introduce a novel humanoid robotic platform designed to jointly address three central goals of humanoid robotics: 1) study the role of morphology in biped locomotion; 2) study full-body compliant physical human-robot interaction; 3) be robust while easy and fast to duplicate to facilitate experimentation. The taken approach relies on functional modeling of certain aspects of human morphology, optimizing materials and geometry, as well as on the use of 3D printing techniques. In this article, we focus on the presentation of the design of specific morphological parts related to biped locomotion: the hip, the thigh, the limb mesh and the knee. We present initial experiments showing properties of the robot when walking with the physical guidance of a human

Maturational constraints for motor learning in high-dimensions: the case of biped walking

International audienceThis paper outlines a new developmental approach to motor learning in very high-dimensions, applied to learning biped locomotion in humanoid robots. This approach relies on the formal modeling and coupling of several advanced mechanisms inspired from human development for actively controlling the growth of complexity and harnessing the curse of dimensionality: 1) Maturational constraints for the progressive release of new degrees of freedoms and progressive increase their explorable ranges; 2) Motor synergies; 3) Morphological computation; 4) Social Guidance. An experimental setup involving a simulated version of the Acroban Humanoid robot is presented

Physical Human-like Interaction with the Acroban and Poppy Humanoid Platforms.

International audienceIn this paper we will present two humanoid platforms (Acroban and Poppy) developed in our lab to study biped locomotion and physical interaction. We will present how their morphologies (compliance, vertebral column, and soft ma- terials) produce human-like movements and natural responses to external perturbations. We will illustrate this behavior with the example of the socially guided biped locomotion. We will also discuss the very positive emotional reactions aroused when presenting Acroban to the general public. We will hypothesize that this behavior could be explained by the contrast between its crude visual appearance and its smooth and compliant movements which increases the impression of like-likeliness

Poppy Humanoid Platform: Experimental Evaluation of the Role of a Bio-inspired Thigh Shape

International audienceIn this paper, we present an experimental evaluation of the role of the morphology in the Poppy humanoid platform. More precisely, we have investigated the impact of the bio-inspired thigh, bended of 6°, on the balance and biped locomotion. We compare this design with a more traditional straight thigh. We describe both the theoretical model and real experiments showing that the bio-inspired thigh allows the reduction of falling speed by almost 60\% (single support phase) and the decrease of the lateral motion needed for the mass transfer from one foot to the other by 30\% (double support phase). We also present an experiment where the robot walks on a treadmill thanks to the social and physical guidance of expert users and we show that the bended thigh reduces the upper body motion by about 45\% indicating a more stable walk

Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight robot

International audienceThis paper presents the humanoid robot Acroban. We study two main issues: 1) Compliance and semi-passive dynamics for locomotion of humanoid robots regarding robustness against unknown external perturbations; 2) The advantages of a bio-inspired multi-articulated vertebral column. We combine mechatronic compliance with structural compliance due to the use of flexible materials. And we explore how these capabilities allow to enforce morphological computation in the design of robust dynamic locomotion. We also investigate the use of compliance to design semi-passive motor primitives using the torso and the arms as a system of accumulation/release of potential/kinetic energy

Modeling maturational constraints for learning biped humanoid locomotion

International audienceThis paper outlines a new developmental approach to motor learning in very high-dimensions, applied to learning biped locomotion in humanoid robots. This approach relies on the formal modeling and coupling of several advanced mechanisms for actively controlling the growth of complexity and harnessing the curse of dimensionality: 1) Adaptive, multi-objective and staged fitness functions; 2) Maturational constraints for the progressive release of new degrees of freedoms; 3) Artificial curiosity; 4) Motor synergies; 5) Morphological computation. An experimental setup involving both the Acroban humanoid robot and a simulated version of the robot is presented

Percutaneous coil embolization of postcatheterization arterial femoral pseudoaneurysms

AbstractStudy Design: This study was a prospective monocentric study to assess the safety and effectiveness of percutaneous embolization with coils of postcatheterization femoral pseudoaneurysm (PCFP). Patients and Methods: Seventeen PCFPs of 32-mm mean diameter in 16 patients were embolized while anticoagulant or antiplatelet therapy was maintained. Ultrasound scan-guided compression repair failed at least one time in 13 cases and was contraindicated in the four remaining cases. With ultrasound-Doppler scan guidance, the PCFPs were percutaneously punctured with a 16-gauge intravenous catheter. An angiogram was performed through the catheter to ensure its location within the sac. Stainless steel spring coils with synthetic fibers were introduced within the PCFP with fluoroscopic control. Successful thrombosis was checked with ultrasound-Doppler scan and was repeated at days 1, 30, and 180 when possible. Results: All PCFPs of 32-mm mean diameter were successfully treated with two to nine coils. After embolization, gentle additional compression was necessary for complete occlusion, with a mean duration of 6.3 minutes (range, 0 to 15 minutes), except in one case with treatment with abciximab in which it was 45 minutes. All procedures were uneventful and painless. The mean follow-up period was 9.5 months (range, 1 to 21 months). Two recurrences (11.7%) were observed, and one was successfully treated with a second embolization. Conclusion: Percutaneous embolization with coils appears to be a safe and effective method for treatment of PCFP. It may be performed in patients undergoing anticoagulant or antiplatelet therapy and must be attempted when ultrasound scan-guided compression repair has failed or is contraindicated. (J Vasc Surg 2002;36:127-31.

Poppy Project: Open-Source Fabrication of 3D Printed Humanoid Robot for Science, Education and Art

International audiencePoppyisthefirstcompleteopen-source3Dprintedhumanoid platform. Robust and accessible, it allows scientists, students, geeks, en- gineers or artists to explore fast and easily the fabrication and program- ming of various robotic morphologies. Both hardware and software are open-source, and a web platform allows interdisciplinary contributions, sharing and collaborations

Livret pédagogique : Apprendre à programmer Poppy Ergo Jr en Snap!

Un livret composé d'activités pédagogiques pour apprendre les bases de la programmation (programmation séquentielles, boucles, conditions, variables etc.) et des idées de défis et de projets pour appliquer les connaissancesCe livret propose des activités et des petits défis à réaliser pour se familiariser avec le robot Poppy Ergo Jr et le langage de programmation Snap!

Early detection and prediction of cardiotoxicity after radiation therapy for breast cancer: the BACCARAT prospective cohort study

International audienceBackground Radiotherapy (RT) for breast cancer presents a benefit in terms of reducing local recurrence and deaths resulting from breast cancer but it can lead to secondary effects due to the presence of neighboring cardiac normal tissues within the irradiation field. Breast RT has been shown to be associated with long-term increased risk of heart failure, coronary artery disease, myocardial infarction and finally cardiovascular death more than 10 years after RT. However, there is still a lack of knowledge for early cardiotoxicity induced by breast RT that can appear long before the onset of clinically significant cardiac events. Based on a 2-year follow-up prospective cohort of patients treated with breast RT, the BACCARAT (BreAst Cancer and CArdiotoxicity Induced by RAdioTherapy) study aims to enhance knowledge on detection and prediction of early subclinical cardiac dysfunction and lesions induced by breast RT and on biological mechanisms potentially involved, based on functional and anatomical cardiac imaging combined with simultaneous assessment of multiple circulating biomarkers and accurate heart dosimetry. Methods/Design BACCARAT study consists in a monocentric prospective cohort study that will finally include 120 women treated with adjuvant 3D CRT for breast cancer, and followed for 2 years after RT. Women aged 50 to 70 years, treated for breast cancer and for whom adjuvant 3D CRT is indicated, without chemotherapy are eligible for the study. Baseline (before RT) and follow-up data include measurements of functional myocardial dysfunction including strain and strain rate based on 2D-speckle tracking echocardiography, anatomical coronary lesions including description of plaques in segments of coronary arteries based on Coronary computed tomography angiography, and a wide panel of circulating biomarkers. The absorbed dose is evaluated for the whole heart and its substructures, in particular the coronary arteries. Analysis on occurrence and evolution of subclinical cardiac lesions and biomarkers will be performed and completed with dose-response relationship. Multivariate model of normal tissue complication probability (NTCP) will also be proposed. Discussion Tools and results developed in the BACCARAT study should allow improving prediction and prevention of potential lesions to cardiac normal tissues surrounding tumors and ultimately enhance patients' care and quality of life. Trial registration ClinicalTrials.gov NCT02605512. © 2016 Jacob et al