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Publications of the consortium

Title	Description
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Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations	We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture, and...
A Model of Acquisition of Discrete Bimanual Coordination Skills for a Humanoid Robot
Combining Dynamical Systems Control and Programming by Demonstration for Teaching Discrete Bimanual Coordination Tasks to a Humanoid Robot[accepted]
SAS publications
Human-Robot collaboration in a planetary settlement setup: collaborative work, interactions design and human factors	The work described here takes place in the FP6-EC Robot@CWE (CWE stands for “Collaborative Working Environment”) project. Two main issues are addressed in ...
Intercontinental multimodal Tele-Cooperation using a Humanoid Robot	The video shows an intercontinental cooperative telemanipulation task, whereby the operator site is located in Munich, Germany and the teleoperator site in Tsuk...
Intercontinental Cooperative Telemanipulation between Germany and Japan	This paper discusses an experimental long distance telepresence using a humanoid robot as a projection of a remote human operators actions to perform collaborat...
Dynamic acyclic planar motion from a contact-stance to another	Abstract-- This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motio...
Challenges in contact-support planning for acyclic motion of humanoids and androids	Abstract--In order to enhance whole body motion capabilities of humanoids and androids, we study the whole-body contact planning and motion generation proble...
Planning support contact-points for acyclic motions and experiments on HRP-2	This paper presents improvements in contact-before-motion planning for humanoid robots that enables to find a path in very constrained environments. Starting fr...
A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space	We present a probabilistic architecture for solving generically the problem of extracting the task constraints through a Programming by Demonstration (PbD) fr...
Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments	In this paper we describe the use of design patterns as a basis for creating a Humanoid Walking Pattern Generator Software having a modular architecture. This a...
Integrating Walking and Vision to increase Humanoid Autonomy	Aiming at building versatile humanoid systems, we present in this paper the real-time implementation of behaviors which integrate walking and vision to achieve...
Real-time (self)-collision avoidance task on a HRP-2 humanoid robot	This paper proposes a real-time implementation of collision and self-collision avoidance for robots. On the basis of a new proximity distance computation method...
Architectures and models for humanoid robots in collaborative working environments.	This paper present a survey of architectures to integrate humanoid robots in collaborative working environment in different real situations. An extensive stat...
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Integrating unilateral constraints inside the Stack Of Tasks	The control approaches based on the task function formalism, and particularly those structured as a prioritized hierarchy of tasks, enable to build complex beha...
Continuous control law from unilateral constraints	The control approaches based on tasks, and particularly based on a hierarchy of tasks, enable to build complex behaviors with some nice properties of robustness...
Intercontinental Cooperative Telemanipulation between Germany and Japan	This paper discusses an experimental long distance telepresence using a humanoid robot as a projection of a remote human operators actions to perform collaborat...

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Robot At CWE

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