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Planification de mouvements et manipulation d'objets par des torses humanoides

Mokhtar Gharbi 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : The emergence of new more and more complex service robots opens new research fields on objet manipulation. Despite the recent progresses in motion planning techniques, few of them deal directly with multi-arm systems like humanoid torsos. Our contribution through this thesis focuses on three aspects. We present an efficient motion planning technique based on the multi-arm system motion coordination. It takes advantage of the system's structure by dividing it into elementary parts of which movements are planned independently of the rest of the system. Generated elementary networks are then fused to obtain a roadmap that takes into account the whole robot. The second contribution consists of the extension of motion planning methods for a robot under loop closure constraints. These kinematic loops appear in the system when, for example, the humanoid torso grasps an objet with two arms. This method treats explicitly the singular configurations of the manipulators, providing better handling of the object. Finally, we present two approaches for planning object manipulation tasks by humanoid torsos. The first concerns solving pick and place task by humanoid torso where the imposed task constraints require a passage through a double grasp to transfer the object from one hand to the other. The second approach concerns the resolution of the same type of task by a mobile manipulator. The presented methods have been integrated on a real platform, Justin, and validated with experiments in the frame of E.U. FP-6 PHRIENDS project.
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Submitted on : Tuesday, December 14, 2010 - 10:06:30 AM
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Mokhtar Gharbi. Planification de mouvements et manipulation d'objets par des torses humanoides. Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2010. Français. ⟨tel-00546271⟩

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