Skip to Main content Skip to Navigation
Habilitation à diriger des recherches

Semiotics of Motion: Toward a Robotics Programing Language

Nicolas Mansard 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : My work is aiming at establishing the bases of a semiotics of motion, in order to facilitate the programing of complex robotics systems. The objective is to build a symbolic model of the action, based on the analysis of the numerical functions that drive the motion (control and planning). The methodology comes from the well-known robotics concepts: motion-planning algorithms, control of redundant systems and task-function approach. The originality of the work is to consider the "task" as the unifying concept both to describe the motion and to control its execution. The document is organized in two parts. In the first part, the task-function control framework is extended to cover all the possible modalities of the robot. The objective is to absorb from the lowest-possible functional level the maximum of uncertainty factors. It is then not any more necessary to model these factors at the higher functional levels. This sensorimotor layer is then used as a basic action "vocabulary" that enables the system to be controlled with a higher-level interface. In the second part, this action vocabulary is used to provide a dedicated robotics programing language, to build motion-planning methods and to describe an observed movement. The proposed methods are generic and can be applied to a various systems, from robotics (redundant robots) to computer animation (virtual avatars). Nonetheless, the work is more specifically dedicated to humanoid robotics. Without forgetting other possible outlets, humanoid robotics provides a tangible applicative and experimental framework. It also leads toward the natural human motion, as presented in the end of the document.
Document type :
Habilitation à diriger des recherches
Complete list of metadata

Cited literature [7 references]  Display  Hide  Download

https://tel.archives-ouvertes.fr/tel-01061112
Contributor : Nicolas Mansard <>
Submitted on : Thursday, September 11, 2014 - 4:52:01 PM
Last modification on : Thursday, June 10, 2021 - 3:03:14 AM
Long-term archiving on: : Friday, December 12, 2014 - 10:11:01 AM

Identifiers

  • HAL Id : tel-01061112, version 1

Citation

Nicolas Mansard. Semiotics of Motion: Toward a Robotics Programing Language. Automatic. Université Paul Sabatier - Toulouse III, 2013. ⟨tel-01061112⟩

Share

Metrics

Record views

609

Files downloads

921