Papers by Philippe Fraisse
Automatique Productique Informatique Industrielle, 1992
Whenrobots physically interact with the environment, compliant behaviors should be imposed to pre... more Whenrobots physically interact with the environment, compliant behaviors should be imposed to prevent damages to all entities involved in the interaction. Moreover, during physical interactions, appropriate pose controllers are usually based on the robot dynamics, in which the ill-conditioning of the joint-space inertia matrix may lead to poor performance or even instability. When the control is not precise, large interaction forces may appear due to disturbed end-effector poses, resulting in unsafe interactions. To overcome these problems, we propose a task-space admittance controller in which the inertia matrix conditioning is adapted online. To this end, the control architecture consists of an admittance controller in the outer loop, which changes the reference trajectory to the robot end-effector to achieve a desired compliant behavior; and an adaptive inertia matrix conditioning controller in the inner loop to track this trajectory and improve the closed-loop performance. We ev...
... Richard (Ed.) (2007) 125-179. Robots en réseaux. Philippe Fraisse 1 , Arnaud Lelevé 2, 3 , Wi... more ... Richard (Ed.) (2007) 125-179. Robots en réseaux. Philippe Fraisse 1 , Arnaud Lelevé 2, 3 , Wilfrid Perruquetti 4, 5. (01/02/2007). ... oai:hal-lirmm.ccsd.cnrs.fr:lirmm-00203668. Contributeur :Philippe Fraisse <>. Soumis le : Jeudi 10 Janvier 2008, 18:11:56. ...
2014 Ieee Ras International Conference on Humanoid Robots, Nov 18, 2014
This paper deals with a stabilizer for a hybrid kinematic/dynamic control scheme for humanoid rob... more This paper deals with a stabilizer for a hybrid kinematic/dynamic control scheme for humanoid robots. The proposed solution is based on a nonlinear PID regulation of the ZMP, coupled with a spherical projection in the CoM's control space. The result of such a stabilizer is a dynamically stable motion, even with large variations in the inclination of the ground. The effectiveness of this new stabilizer has been demonstrated through real-time experiments on the humanoid robot HOAP-3. The produced motion is smooth and dynamically stable.
Sciences de l'Homme et de la Société.
The reliability, the ease of donning and doffing and the robustness of controllers constitute the... more The reliability, the ease of donning and doffing and the robustness of controllers constitute the primary criteria to evaluate any control strategy based on FES. Many studies, both open and closed loop control for restoration of movements have shown satisfactory results. The originality of the presented method relies on the use of a physio- mathematical based muscle model in simulations
... oai:hal-lirmm.ccsd.cnrs.fr:lirmm-00108917; Contributeur : Christine Carvalho De Matos &am... more ... oai:hal-lirmm.ccsd.cnrs.fr:lirmm-00108917; Contributeur : Christine Carvalho De Matos <>; Soumis le : Lundi 23 Octobre 2006, 12:57:14; Dernière modification le : Lundi 20 Août 2007, 15:03:46. Voir la fiche détaillée. Exporter. Bibtex ...
... On the one hand, the AUVs specified for deep water, as for example Hugin 3000 from Kongsberg ... more ... On the one hand, the AUVs specified for deep water, as for example Hugin 3000 from Kongsberg Simrad, Sea Oracle from Bluefin Robotics and Alistar 3000 from ECA, have a maximum depth of 3000 meters, a high autonomy, non-negligible dimensions and a weight that ...
... However, this method is intended for persons having functional ability but activity difficult... more ... However, this method is intended for persons having functional ability but activity difficulties, and are not suitable for paraplegic persons. ... posture is given by the q vector, which can be obtained by solving (6). If the measured quantities y and anthropometric parameters Lj were ...
2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14), 2014
In this paper, a task based whole-body control strategy is proposed for humanoid robots. Its basi... more In this paper, a task based whole-body control strategy is proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM with a ZMP regulation, (ii) the relative pose of robot's feet and (iii) joint's limit avoidance. Through the proposed study, it is shown that these tasks allow to produce smooth whole-body motions. Real-time experimentation results are presented to show the effectiveness of the proposed control scheme.
2014 IEEE-RAS International Conference on Humanoid Robots, 2014
This paper deals with a stabilizer for a hybrid kinematic/dynamic control scheme for humanoid rob... more This paper deals with a stabilizer for a hybrid kinematic/dynamic control scheme for humanoid robots. The proposed solution is based on a nonlinear PID regulation of the ZMP, coupled with a spherical projection in the CoM's control space. The result of such a stabilizer is a dynamically stable motion, even with large variations in the inclination of the ground. The effectiveness of this new stabilizer has been demonstrated through real-time experiments on the humanoid robot HOAP-3. The produced motion is smooth and dynamically stable.
This work studies and proposes remote control architecture for a set of nonholonomic robotic vehi... more This work studies and proposes remote control architecture for a set of nonholonomic robotic vehicles. We used a new decentralized control strategy such strategy permits each vehicle to independently compute its trajectory based on the Leader-Follower principle, both the leader and the follower GPS information, and the signal level of the wireless communication reception. We incorporate a reactive term in the path planning process based on the Deformable Virtual Zones (DVZ) that modifies the path of each robot for a given ultrasound sensor information of each robot in order to get away from obstacles.
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Papers by Philippe Fraisse