Service interruption on Monday 11 July from 12:30 to 13:00: all the sites of the CCSD (HAL, Epiciences, SciencesConf, AureHAL) will be inaccessible (network hardware connection).
Skip to Main content Skip to Navigation

Dual-arm robotic manipulation inspired by human skills

Abstract : The number of humanoid robots has increased in recent years to be able to collaborate with humans or replace them in tedious tasks. The objective of this thesis is to transfer to humanoid robots, skills or human competences, in particular for movements involving coordination between the two arms. In the first part of the thesis, a process of conversion from a human movement to a robot movement, with the aim of imitation is proposed. Since humans have much more freedom than a humanoid robot, identical movements cannot be produced, the characteristics (body lengths) canal so be different. Our conversion process takes into account the recording of marker locations attached to human bodies and joints to improve the imitation processes. The second part of the thesis aims at analyzing the strategies used by humans to generate movement. Human movements are assumed to be optimal and our goal is to find criteria minimized during manipulations. We hypothesize that this criterion is a combination of classical criteria used in robotics and we look for the weights of each criterion that best represents human movement. In this way, an optimal kinematic control approach can then be used to generate movements of the humanoid robot.
Document type :
Complete list of metadata

Cited literature [136 references]  Display  Hide  Download
Contributor : ABES STAR :  Contact
Submitted on : Tuesday, December 18, 2018 - 6:12:09 PM
Last modification on : Wednesday, April 27, 2022 - 3:51:13 AM
Long-term archiving on: : Wednesday, March 20, 2019 - 11:44:39 AM


Version validated by the jury (STAR)


  • HAL Id : tel-01959569, version 1


Marija Tomic. Dual-arm robotic manipulation inspired by human skills. Automatic. École centrale de Nantes; Univerzitet u Beogradu, 2018. English. ⟨NNT : 2018ECDN0017⟩. ⟨tel-01959569⟩



Record views


Files downloads