Download or read book Planification de t ches de manipulation par pivotement pour un robot humano de written by and published by . This book was released on 2009 with total page 103 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce manuscrit met en avant la capacité d’un robot humanoïde à effectuer une tâche difficilement réalisable par d’autres types de robots. On s'intéresse ici à la manipulation d'objets dits encombrants. De telles tâches de manipulation s'effectuent avec beaucoup de difficultés et font appel à plusieurs aptitudes, telles la prise en compte du mouvement du corps dans son ensemble (ou mouvement corps complet) et une parfaite synchronisation entre les différents membres, bras et jambes. Nous introduisons ici un planificateur de mouvements corps complet qui donne à un robot humanoïde la capacité de mettre en place, automatiquement, une stratégie de déplacement d'objets encombrants par pivotement, tout en prenant en compte un certain nombre de contraintes : évitement de collisions, coordination des membres, bras et jambes, et contrôle de la stabilité pendant tout le déplacement. Basé sur des résultats formels, définis en amont, prouvant la contrôlabilité en temps petit d'un système se déplaçant par pivotement. Le planificateur hérite aussi de la complétude probabiliste des méthodes d'échantillonnage aléatoire de planification sur lesquelles il est construit. Les capacités géométriques et cinématiques du planificateur proposé sont aussi démontrées à travers des simulations et des expérimentations réelles. Nous nous intéressons ensuite à résoudre des problèmes plus complexes, en offrant au robot la possibilité de lâcher et de reprendre l'objet à manipuler si celui-ci est bloqué dans un passage étroit

Download or read book Knowledge Representations for Planning Manipulation Tasks written by Franziska Zacharias and published by Springer Science & Business Media. This book was released on 2012-01-12 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.

Download or read book Planification de t ches de manipulation pour robots parall les c bles written by Diane Bury and published by . This book was released on 2020 with total page 146 pages. Available in PDF, EPUB and Kindle. Book excerpt: Les robots parallèles à câbles présentent l'intérêt d'un grand espace de travail comparativement à des robots manipulateurs classiques. En contrepartie, la présence des câbles induit des collisions possibles supplémentaires, et des contraintes de positivité sur les tensions des câbles. La plateforme logicielle HPP développée dans l'équipe GEPETTO du LAAS permet de planifier des mouvements et des tâches de manipulation pour des systèmes articulés dans des environnements encombrés par des obstacles.Le travail réalisé au cours de cette thèse a permis d'appliquer les algorithmes existant dans la plateforme HPP aux robots parallèles à câbles. Le travail de recherche de cette thèse apporte des solutions au problème de validation continue de trajectoires pour les robots parallèles à câbles. Dans un premier temps, un algorithme de validation continue de collision est étendu pour prendre en compte toutes les paires de collisions contenant des câbles. Cet algorithme se base sur le calcul d'un majorant de la vitesse relative de deux corps afin de valider successivement des portions du chemin. Dans un deuxième temps, ce même algorithme de validation continue est étendu afin de valider les conditions de tensions des câbles.Ensemble, la validation continue de collision et la validation continue de tensions forment une méthode de validation continue globale pour robots parallèles à câbles. Cette méthode est utilisée au sein d'algorithmes de planification probabilistespour effectuer de la planification de mouvement pour robots à câbles. Des scénarios représentant des tâches de logistiques ou des tâches industrielles sont testés en simulation ainsi qu'en réel sur le robot CoGiRo.

Download or read book Planification de mouvement pour la manipulation d objets sous contraintes d interaction homme robot written by Jim Mainprice and published by . This book was released on 2012 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: Un robot agit sur son environnement par le mouvement, sa capacité à planifier ses mouvements est donc une composante essentielle de son autonomie. L'objectif de cette thèse est concevoir des méthodes algorithmiques performantes permettant le calcul automatique de trajectoires pour des systèmes robotiques complexes dans le cadre de la robotique d'assistance. Les systèmes considérés qui ont pour vocation de servir l'homme et de l'accompagner dans des tâches du quotidien doivent tenir compte de la sécurité et du bien-être de l'homme. Pour cela, les mouvements du robot doivent être générés en considérant explicitement le partenaire humain raisonant sur un modèle du comportement social de l'homme, de ses capacités et de ses limites afin de produire un comportement synergique optimal.Dans cette thèse nous étendons les travaux pionniers menés au LAAS dans ce domaine afin de produire des mouvements considérant l’homme de manière explicite dans des environnements encombrés. Des algorithmes d’exploration de l’espace des configurations par échantillonnage aléatoire sont combinés à des algorithmes d’optimisation de trajectoire afin de produire des mouvements sûrs et agréables. Nous proposons dans un deuxième temps un planificateur de tâche d’échange d’objet prenant en compte la mobilité du receveur humain permettant ainsi de partager l’effort lors du transfert. La pertinence de cette approche a été étudiée dans une étude utilisateur. Finalement, nous présentons une architecture logicielle qui permet de prendre en compte l’homme de manière dynamique lors de la réalisation de tâches de manipulation interactive

Download or read book Planification de t ches de manipulation en robotique written by Anis Sahbani and published by Editions Universitaires Europeennes. This book was released on 2012 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce livre porte sur la planification de taches de manipulation pour des systemes robotiques. Dans ce contexte, la planification ne se limite pas au calcul automatique des chemins sans collision pour un robot mais integre egalement le sequencement des differentes sous-taches de prise et de pose d'objets. De part leur complexite, ces problemes ont longtemps resiste aux methodes deterministes initialement proposees dans la litterature. Le developpement recent des techniques probabilistes permet aujourd'hui de les revisiter. Nous detaillons dans ce livre les notions d'espace de prise et de pose sur lesquelles reposent la structuration de l'espace de recherche. Nous distinguons ensuite deux instances du probleme de manipulation: le cas discret et le cas continu d'ensemble de prises et de poses. Nous proposons egalement une approche generique qui permet la resolution de problemes de manipulation sous contraintes continues. Cette approche consiste a capturer la connectivite d'une sous-variete particuliere de l'espace des configurations composite dans une structure de graphe, appele "graphe de manipulation."

Download or read book Planification des t ches de manipulation en robotique par des approches probabilistes written by Anis Sahbani and published by . This book was released on 2003 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Proceedings of the 21st Congress of the International Ergonomics Association IEA 2021 written by Nancy L. Black and published by Springer Nature. This book was released on 2021-04-30 with total page 830 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 21st Congress of the International Ergonomics Association (IEA 2021), held online on June 13-18, 2021. By highlighting the latest theories and models, as well as cutting-edge technologies and applications, and by combining findings from a range of disciplines including engineering, design, robotics, healthcare, management, computer science, human biology and behavioral science, it provides researchers and practitioners alike with a comprehensive, timely guide on human factors and ergonomics. It also offers an excellent source of innovative ideas to stimulate future discussions and developments aimed at applying knowledge and techniques to optimize system performance, while at the same time promoting the health, safety and wellbeing of individuals. The proceedings include papers from researchers and practitioners, scientists and physicians, institutional leaders, managers and policy makers that contribute to constructing the Human Factors and Ergonomics approach across a variety of methodologies, domains and productive sectors. This volume includes papers addressing the following topics: Activity Theories for Work Analysis and Design (ATWAD), Organisation design and management (ODAM), Ergonomic Work Analysis and Training (EWAT), Systems HF/E, HF/E Education and Professional Certification Development.

Download or read book The History of Science Fiction written by A. Roberts and published by Springer. This book was released on 2005-11-28 with total page 385 pages. Available in PDF, EPUB and Kindle. Book excerpt: The History of Science Fiction traces the origin and development of science fiction from Ancient Greece up to the present day. The author is both an academic literary critic and acclaimed creative writer of the genre. Written in lively, accessible prose it is specifically designed to bridge the worlds of academic criticism and SF fandom.

Download or read book Sacred Space written by Augustin Ioan and published by . This book was released on 2002 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Warrant and Proper Function written by Alvin Plantinga and published by Oxford University Press, USA. This book was released on 1993 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: The author argues that what is crucial to turning true belief into knowledge is the 'proper functioning' of one's cognitive faculties, and this clears the way for the proposal that a belief is warranted whenever it is the product of properly functioning cognitive processes.

Download or read book The Fragmentation of Reason written by Stephen P. Stich and published by Bradford Books. This book was released on 1990 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt: From Descartes to Popper, philosophers have criticized and tried to improve the strategies of reasoning invoked in science and in everyday life. In recent years leading cognitive psychologists have painted a detailed, controversial, and highly critical portrait of common sense reasoning. Stephen Stich begins with a spirited defense of this work and a critique of those writers who argue that widespread irrationality is a biological or conceptual impossibility. Stich then explores the nature of rationality and irrationality: What is it that distinguishes good reasoning from bad? He rejects the most widely accepted approaches to this question approaches which unpack rationality by appeal to truth, to reflective equilibrium or conceptual analysis. The alternative he defends grows out of the pragmatic tradition in which reasoning is viewed as a cognitive tool. Stich's version of pragmatism leads to a radical epistemic relativism and he argues that the widespread abhorrence of relativism is ill founded. Stephen Stich is Professor of Philosophy at Rutgers University and author of From Folk Psychology to Cognitive Science.

Download or read book Constructive Ergonomics written by Pierre Falzon and published by CRC Press. This book was released on 2014-09-26 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal for ergonomics has always been to adapt work, work environments, and machines to humans. But is this goal still sufficient? Does it satisfy the needs of the individual or of societies and organizations as they operate now? Constructive Ergonomics provides an answer to these questions. Rooted both in the academic world and in the world of p

Download or read book Proceedings of the 21st Congress of the International Ergonomics Association IEA 2021 written by Nancy L. Black and published by Springer Nature. This book was released on 2021-06-12 with total page 865 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 21st Congress of the International Ergonomics Association (IEA 2021), held online on June 13-18, 2021. By highlighting the latest theories and models, as well as cutting-edge technologies and applications, and by combining findings from a range of disciplines including engineering, design, robotics, healthcare, management, computer science, human biology and behavioral science, it provides researchers and practitioners alike with a comprehensive, timely guide on human factors and ergonomics. It also offers an excellent source of innovative ideas to stimulate future discussions and developments aimed at applying knowledge and techniques to optimize system performance, while at the same time promoting the health, safety and wellbeing of individuals. The proceedings include papers from researchers and practitioners, scientists and physicians, institutional leaders, managers and policy makers that contribute to constructing the Human Factors and Ergonomics approach across a variety of methodologies, domains and productive sectors. This volume includes papers addressing the following topics: Working with Computer Systems, Human Modelling and Simulation, Neuroergonomics, Biomechanics, Affective Design, Anthropometry, Advanced Imaging.

Download or read book Icons Texts Iconotexts written by Peter Wagner and published by Walter de Gruyter. This book was released on 2012-10-25 with total page 428 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Socializing Epistemology written by Frederick F. Schmitt and published by Rowman & Littlefield. This book was released on 1994 with total page 336 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this wide-ranging collection of never before published essays, distinguished scholars in the fields of philosophy and economics examine such questions as whether testimony is a basic source of knowledge, the degree to which notions of a good argument are determined by speakers and their audiences, the role of individual biases in the development of science, and the social aspects of group belief and group justification. The collection ends with the first comprehensive bibliography of social epistemology.

Download or read book Philostratus written by Philostratus (the Athenian) and published by . This book was released on 1912 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book The Common Mind written by Philip Pettit and published by Oxford University Press. This book was released on 1996-04-18 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: What makes human beings intentional and thinking subjects? How does their intentionality and thought connect with their social nature and their communal experience? How do the answers to these questions shape the assumptions which it is legitimate to make in social explanation and political evaluation? These are the broad-ranging issues which Pettit addresses in this novel study. The Common Mind argues for an original way of marking off thinking subjects, in particular human beings, from other intentional systems, natural and artificial. It holds by the holistic view that human thought requires communal resources while denying that this social connection compromises the autonomy of individuals. And, in developing the significance of this view of social subjects--this holistic individualism--it outlines a novel framework for social and political theory. Within this framework, social theory is allowed to follow any of a number of paths: space is found for intentional interpretation and decision-theoretic reconstruction, for structural explanation and rational choice derivation. But political theory is treated less ecumenically. The framework raises serious questions about contractarian and atomistic modes of thought and it points the way to a republican rethinking of liberal commitments.