Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions when solving different tasks. However, existing approaches have been merely able to shape such behaviors with hand-crafted state machines, densely engineered rewards, or pre-recorded expert demonstrations. Here, we propose a minimally-guided framework that automatically discovers whole-body trajectories jointly with contact schedules for solving general loco-manipulation tasks in pre-modeled environments. The key insight is that multi-modal problems of this nature can be formulated and treated within the context of integrated Task and Motion Planning (TAMP). An effective bilevel search strategy is achieved by incorporating domain-specific rules and adequately combining the strengths of different planning techniques: trajectory optimization and informed graph search coupled with sampling-based planning. We showcase emergent behaviors for a quadrupedal mobile manipulator exploiting both prehensile and non-prehensile interactions to perform real-world tasks such as opening/closing heavy dishwashers and traversing spring-loaded doors. These behaviors are also deployed on the real system using a two-layer whole-body tracking controller

8-modified-2\u27-deoxyadenosine analogues induce delayed polymerization arrest during HIV-1 reverse transcription

The occurrence of resistant viruses to any of the anti-HIV-1 compounds used in the current therapies against AIDS underlies the urge for the development of new drug targets and/or new drugs acting through novel mechanisms. While all anti-HIV-1 nucleoside analogues in clinical use and in clinical trials rely on ribose modifications for activity, we designed nucleosides with a natural deoxyribose moiety and modifications of position 8 of the adenine base. Such modifications might induce a steric clash with helix &alpha;H in the thumb domain of the p66 subunit of HIV-1 RT at a distance from the catalytic site, causing delayed chain termination. Eleven new 2&prime;-deoxyadenosine analogues modified on position 8 of the purine base were synthesized and tested in vitro and in cell-based assays. In this paper we demonstrate for the first time that chemical modifications on position 8 of 2&prime;-deoxyadenosine induce delayed chain termination in vitro, and also inhibit DNA synthesis when incorporated in a DNA template strand. Furthermore, one of them had moderate anti-HIV-1 activity in cell-culture. Our results constitute a proof of concept indicating that modification on the base moiety of nucleosides can induce delayed polymerization arrest and inhibit HIV-1 replication.<br /

Révolte ou soumission dans les œuvres dramatiques de Georges Schéhadé

LYON3-Bibliothèques (693872102) / SudocLYON-BIU-LSH (693872101) / SudocSudocFranceF

Constraint Handling in Continuous-Time DDP-Based Model Predictive Control

The Sequential Linear Quadratic (SLQ) algorithm is a continuous-time version of the well-known Differential Dynamic Programming (DDP) technique with a Gauss-Newton Hessian approximation. This family of methods has gained popularity in the robotics community due to its efficiency in solving complex trajectory optimization problems. However, one major drawback of DDP-based formulations is their inability to properly incorporate path constraints. In this paper, we address this issue by devising a constrained SLQ algorithm that handles a mixture of constraints with a previously implemented projection technique and a new augmented-Lagrangian approach. By providing an appropriate multiplier update law, and by solving a single inner and outer loop iteration, we are able to retrieve suboptimal solutions at rates suitable for real-time model-predictive control applications. We particularly focus on the inequality-constrained case, where three augmented-Lagrangian penalty functions are introduced, along with their corresponding multiplier update rules. These are then benchmarked against a relaxed log-barrier formulation in a cart-pole swing up example, an obstacle-avoidance task, and an object-pushing task with a quadrupedal mobile manipulator

Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions when solving different tasks. However, existing approaches have been merely able to shape such behaviors with hand-crafted state machines, densely engineered rewards, or pre-recorded expert demonstrations. Here, we propose a minimally-guided framework that automatically discovers whole-body trajectories jointly with contact schedules for solving general loco-manipulation tasks in pre-modeled environments. The key insight is that multi-modal problems of this nature can be formulated and treated within the context of integrated Task and Motion Planning (TAMP). An effective bilevel search strategy is achieved by incorporating domain-specific rules and adequately combining the strengths of different planning techniques: trajectory optimization and informed graph search coupled with sampling-based planning. We showcase emergent behaviors for a quadrupedal mobile manipulator exploiting both prehensile and non-prehensile interactions to perform real-world tasks such as opening/closing heavy dishwashers and traversing spring-loaded doors. These behaviors are also deployed on the real system using a two-layer whole-body tracking controller.ISSN:2470-947

Iodosulfuron degradation by TiO2 photocatalysis: Kinetic and reactional pathway investigations.

International audienceThe photocatalytic degradation of a sulfonylurea herbicide, iodosulfuron methyl ester (IOME), has been studied in TiO2 aqueous suspensions under UV irradiation. The influence of various parameters such as initial concentration, TiO2 concentration and light intensity on the kinetic process was investigated. Disappearance rate of iodosulfuron followed pseudo-first order kinetics. A special attention was devoted to the identification of intermediates, using a new analytical approach which consists of coupling HPLC–DAD (UV), HPLC–ESI-MS and HPLC–1H NMR techniques after a SPE pre-concentration step. By combining UV, MS and NMR data, up to 20 degradation products were unambiguously identified. Furthermore, 1H NMR data allowed the differentiation of several positional isomers, in particular those of hydroxylation resulting from the attack of OH radicals on the benzene ring of IOME. Kinetic evolution profiles of main intermediates, end products (NO3-, NH4 +, SO4 2-) and total organic carbon (TOC) were also examined in detail. From obtained kinetic and analytical results, the presence of privileged sites for the attack of OH radicals was shown and a detailed degradation pathway was proposed

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation

In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile manipulator as a switched system, and introduce a set of constraints that can encode any pre-defined gait sequence or manipulation schedule in the formulation. Since the system is designed to actively manipulate its environment, the equations of motion are composed by augmenting the robot's centroidal dynamics with the manipulated-object dynamics. This allows us to describe any high-level task in the same cost/constraint function. The resulting planning framework could be solved on the robot's onboard computer in real-time within a model predictive control scheme. This is demonstrated in a set of real hardware experiments done in free-motion, such as base or end-effector pose tracking, and while pushing/pulling a heavy resistive door. Robustness against model mismatches and external disturbances is also verified during these test cases.ISSN:2377-376

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation

We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact model is assumed, and the unilateral constraints are imposed in the form of complementarity conditions. Newton’s impact law is adopted for enhanced physical correctness. The optimal control problem is formulated as a multi-staged program through a multiple-shooting scheme. This problem structure is exploited within the FORCES Pro framework to retrieve optimal motion plans, contact sequences and control inputs with increased computational efficiency. We investigate our method on a variety of dynamic object manipulation tasks, performed by a six degrees of freedom robot. The dynamic feasibility of the optimal trajectories, as well as the repeatability and accuracy of the task-satisfaction are verified through simulations and real hardware experiments on one of the manipulation problems

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation

We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact model is assumed, and the unilateral constraints are imposed in the form of complementarity conditions. Newton's impact law is adopted for enhanced physical correctness. The optimal control problem is formulated as a multi-staged program through a multiple-shooting scheme. This problem structure is exploited within the FORCES Pro framework to retrieve optimal motion plans, contact sequences and control inputs with increased computational efficiency. We investigate our method on a variety of dynamic object manipulation tasks, performed by a six degrees of freedom robot. The dynamic feasibility of the optimal trajectories, as well as the repeatability and accuracy of the task-satisfaction are verified through simulations and real hardware experiments on one of the manipulation problems