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CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

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CNRS-AIST Joint Robotics Laboratory (JRL), UMI 3218/CRT

A. KHEDDAR E. YOSHIDA

CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

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Organization   History

  CNRS-AIST Agreement (2001, 2006)   CNRS-ST2I JRL (2003 / 2005)   now: CNRS-AIST JRL UMI3218/CRT

  Full-fledged CNRS International Mixed Unit and AIST Cooperative Research Team

  Japanese-French Competence Synergy   Motion control and planning using

humanoid platform   Human-robot interface through haptic

and visual perception

Japan CNRS

France LAAS-Toulouse

LIRMM - Montpellier

Collaboration

AIST Collaboration

Research Groups on Robotics

JRL Dr. Kheddar Dr. Yoshida

Exchanges

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CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

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Organization (09/2012)

Hosting Research Group Leaders Dr Yokoi, Humanoid RG Dr Kotoku, RT-Synthesis RG Dr Kawai, Vision and Manipulation RG Dr Asano, Interaction Modeling RG Dr Ohba, Dependable Systems RG Dr Y. Matsumoto, Service Robotics RG Dr O. Matsumoto, Field Robotics RG

Staff: A. Escande, A. Kheddar, E. Yoshida, Adjunct members: K. Miura, M. Morisawa, F. Kanehiro, K. Kaneko, F. Keith,

G. Venture (TUAT) PosDoc: Th. Moulard PhD: (2) P. Gergondet, Y. Lee (3) A. Bussy

(1) D. Petit, B. Chrétien, S. Brossette, J. Agravante MS: -

CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

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Research activities   Planning

  E. Yoshida   Reactive behavior

  E. Yoshida (O. Stasse)   Visual perception and interactions

  A. Kheddar (S. Druon, O. Stasse)   Haptics

  A. Kheddar

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CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

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Integration

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Force input and footstep planning

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Real-time walking pattern generation:

Stability and foot motion

Compliant upper-body motion Teleoperation input Real-time

whole-body motion

“Stack of tasks” CoM

Upper body Legs Gaze

Force sensor input

Teleoperator …

Fast walking pattern generation

CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

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Projects   RoboHow.COG

  FP7 IP Contract No 288533   CNRS Coordination : A. Kheddar   www.robohow.eu   01/02/2011 – 31/01/2015 (1,043M€)

  VERE   FP7 Contract No 257695   CNRS coordination : A. Kheddar   www.vere-project.eu   01/06/2010 – 30/05/2015 (675k€)

  ROBOT@CWE   FP6 Contract No 34002 (650k€)   Coordination: A. Kheddar   www.robot-at-cwe.eu   01/11/2006 – 31/10/2009

  Planning under real constraints   CNRS-JST cooperative program (30M

JPY)   Coordination: E. Yoshida, J-P. Laumond   01/02/2007 – 31/01/2011

  R-BLINK   ANR-08-JCJC-0075-01 (323k€)   Coordination: O. Stasse   staff.aist.go.jp/olivier.stasse/rblink/

index.html   01/01/2009 – 31/12/2011

  CSP   JSPS Kakenhi (13,9MJPY)   Coordination: A. Kheddar   01/04/2010 – 31/03/2013

  PIL2H   PEPS CNRS (30k€)   Coordination: A. Kheddar   01/04/2010 – 31/03/2012

  Disaster/DARPA challenge   Coordination: F. Kanehiro   2012 – 2013

  Human Mobility Assist Evaluation   Coordination: E. Yoshida   2012 – 2013

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CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

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Clusters of collaborative working environments

Human operator

Virtual agent/Avatar Simulation/planning

Robotic systems

Virtualized spaces

ROBOT@CWE   Integrating robots in

“collaborative working environment”

  Members: CNRS and AIST (JRL), UC3M, TUM, UNISALZ, EPFL, DRAGADOS, HP EIC, SAS

  www.robot-at-cwe.eu   Robot as a working agent

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CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

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VERE   VERE

  Members: UB, IDIBAPS, g-TEC, TUM, SSSA, CNRS, EPFL, FSL, JGUM, WIS, IT, IDCH, UCL

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Intention (thinking)

Action (doing)

VERE

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CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

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RoboHow.Cog   RoboHow.Cog

  Members: TUM, CNRS, EPFL, KTH, KUL, FORTH, UL, ALD Pro

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CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT (JRL)

Evaluation and design optimization

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Pro

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  Using humanoid technology for human-centric design optimization and evaluation of human assist mobility