Christophe Leroux

Christophe Leroux
Atomic Energy and Alternative Energies Commission | CEA · Interactive robotics Unit

PhD

About

52
Publications
16,947
Reads
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478
Citations
Introduction
Christophe Leroux currently works in the robotics lab at the Centre d'Etudes de Saclay of CEA (Atomic Energy and Alternative Energies Commission). He is involved currently in European research projects in robotics Echord++ (facilitate robotics uptake by end users), HORSE (industrial robotics), ESMERA (robotics research challenges), COVR (regulation in robotics), ROBMOSYS (model based design for robotics), TERRINET (access to robotics infrastructures by researchers). He is member of euRobotics Board of Director aisbl.
Additional affiliations
July 1990 - present
Atomic Energy and Alternative Energies Commission
Position
  • Manager European Affairs in robotics

Publications

Publications (52)
Technical Report
Full-text available
This document is about the sustainability and business model of the individual DIHs in the RIMA network. It describes how RIMA DIHs sustainability is organized. This document comes as a follow up to D3.1 deliverable which contains a general description of the concept of services for RIMA DIHs and of the activity covered by each service. This report...
Article
Full-text available
The use of robotics in health care has seen a recent rise in interest due to its potential for use during the SARS-CoV-2 pandemic. The transmission rate of COVID-19 has meant that health-care workers are under increasing pressure, risks, and workload to manage the requirements of personal protective equipment, strict disinfection procedures, and th...
Article
Full-text available
The purpose of this case study was to evaluate the technology readiness level of a prototype named “SAM” that consists of a robotic arm mounted on a mobile base. Usability and acceptance assessments were performed in patients with high-level quadriplegia. Seventeen patients with quadriplegia were trained to pick up three different objects in three...
Technical Report
Full-text available
This document is a contribution on Ethical, Legal and Societal issues (ELS) in robotics. It provides some elements to understand and address above mentioned ethical, legal and societal issues in today´s and future society. This document “ELS issues in robotics and steps to consider them” is composed of four parts: • Part 1 is dedicated to jobs and...
Technical Report
Full-text available
Recent advances in the field of digitization and robotics, such as driverless cars, largely autonomous smart factories, service robots or 3D printing, give rise to public fears that technology may substitute for labor on a grand scale. Against this background, the report reviews the existing literature on the employment effects of technological cha...
Technical Report
Full-text available
Progress in research is making robots more present in our environment at work as well as at home. Regulations are consequences of this deployment of robotics in our life in order to ensure safety of people at work or to guarantee one’s privacy. This document analyses the current regulations in robotics and attempts to define some tracks for further...
Technical Report
Full-text available
This document presents a robot ethics roadmap. The roadmap links a number of elements, including standards, regulation, responsible research & innovation and public engagement, which together contribute to robot ethics. The roadmap is offered as a new framework for ethical governance for robots, which in turn could support the process of building p...
Conference Paper
Full-text available
Services and technologies are in evolution in order to develop a new generation of robotic systems that might operate in dynamic real-world environments. In this paper, we focus on the ability of robot to understand and to surpass the blocked situations autonomously without operator intervention. Such situations may occur when the robot cannot succ...
Conference Paper
Full-text available
Résumé—Il y a environ 69,2 millions de personnes de plus de 80 ans dans le monde d'aujourd'hui [18]. Ce nombre devrait atteindre 379 millions en 2050. Cette tendance démographique est une incitation pour les décideurs à promouvoir le développement de nouveaux services, comme la robotique, pour aider les personnes âgées dans leur vie quotidienne. Ce...
Article
Objectif Évaluation de la fiabilité et de l’acceptabilité de l’usage d’un robot mobile d’assistance, Synthetic Autonomous Majordomo (SAM) composé d’une base mobile Néobotix avec bras télémanipulateur Manus, doté d’une interface de saisie automatique d’objet. Patients et méthodes Étude multicentrique ouverte contrôlée sous l’égide de l’association...
Conference Paper
This document presents the research project ARMEN (Assistive Robotics to Maintain Elderly People in a Natural environment), aimed at the development of a user friendly robot with advanced functions for assistance to elderly or disabled persons at home. Focus is given to the robot SAM (Smart Autonomous Majordomo) and its new features of navigation,...
Article
Full-text available
This document presents the research project ARMEN aiming at the conception of an assistive robot very simple to use and providing advanced functions to help maintaining disabled or elderly people at home. The document presents the robot SAM and the functions of navigation, of emotion detection from speech, of image understanding, the knowledge repr...
Book
Full-text available
This document is a contribution to provide some elements to understand and address the Ethical, Legal and Societal issues (ELS) in robotics. This document “Ethical and Legal and Societal issues in robotics” together with the annex document “suggestion for a green paper on legal issues in robotics” constitutes the deliverable D3.2.1 of euRobotics p...
Book
Full-text available
This document contains a description of legal issues in robotics together with a set of recommendations and some elements for a roadmap to overcome any problems we identified. The document is the result of one of the first transnational dialogues between the law community and the robotics community. It is meant to stimulate a debate on this topic....
Conference Paper
Full-text available
The sector of robotics develops rapidly at the moment. Law is not already prepared for the aspects coming with this new technology. This regards not only to research and development but also to application and use of this systems. Some legal areas like liability or admission are already debated at the moment. In this paper other crucial problems li...
Conference Paper
Full-text available
Robotics is now having an exponential growth and the achievement of the singularity (the point where the artificial systems' capabilities will reach and exceed humans' ones) in the course of a few decades is expected to be on the forefront. From a legal point of view several questions arise, such as (among others) the market standards to apply to s...
Article
Full-text available
This paper presents the developments with the SAM robot, established in the ARMEN project. We are interested in cognitive robotics. We have developed two complementary modules. The first one deals with the representation of knowledge, while the second develops the scenario generation. Indeed, the representation of knowledge tells us about the scene...
Article
Full-text available
This paper describes the scientific vision and objectives of the FET Flagship candidate initiative Robot Companions for Citizens. Robot Companions will be a new generation of machines that will primarily help and assist elderly people in activities of daily living in their workplace, home and in society. They will be the ICT solution for a new sust...
Conference Paper
Full-text available
In this paper, we present a mobile robot with an arm and a gripper, which can generate its own scenarios before executing them. Hand-written scenarios, as we previously did, are not applicable any longer, since a wider range of scenarios is aimed at, which cannot be predicted in advance. Our approach involves task planning, for scenario generation,...
Conference Paper
This paper describes the scientific vision and objectives of the FET Flagship candidate initiative Robot Companions for Citizens. Robot Companions will be a new generation of machines that will primarily help and assist elderly people in activities of daily living in their workplace, home and in society. They will be the ICT solution for a new sust...
Conference Paper
Full-text available
This article presents a service robotic system for people loosing their autonomy developed at CEA LIST. In the past on SAM robot, we have developed a method for automatic manipulation and object grasping using visual servoing. This method is too stereotyped to correctly grasp objects with complex geometry or to assign particular use to the manipula...
Conference Paper
Full-text available
Over the last few years successful coordination activities have been undertaken within the academic and industrial robotics communities (EURON and EUROP), but both communities still struggle to overcome the community-internal problems regarding terminology and suboptimally coordinated transfer of research visions, technology, and people. The Europe...
Article
Laffont I, Biard N, Chalubert G, Delahoche L, Marhic B, Boyer FC, Leroux C. Evaluation of a graphic interface to control a robotic grasping arm: a multicenter study. Grasping robots are still difficult to use for persons with disabilities because of inadequate human-machine interfaces (HMIs). Our purpose was to evaluate the efficacy of a graphic in...
Conference Paper
This paper deals with the design of a robotic platform providing a grasping procedure to assist disabled persons. Like most of the vision-based systems, the camera used to guide the arm toward the object is embedded onto the gripper, which gives a very local view of the environment. We propose to use a catadioptric sensor in order to deal with situ...
Conference Paper
Full-text available
This paper presents a method to determine the rough shape of an object. This is a step in the development of a ldquoone click grasping toolrdquo, a grasping tool of everyday-life objects for an assistant robot dedicated to elderly or disabled. The goal is to determine the quadric that approximates at best the shape of an unknown object using multi-...
Conference Paper
Full-text available
This article presents a service robotic system for disabled people. SAM is a mobile platform that grasps any textured object in an apartment-like environment. The object grasping is realized with a robotic arm, mounted onto the mobile unit. Thanks to the stereo rig on the armpsilas gripper, the user defines the object to grasp on a remote screen, i...
Conference Paper
Cet article présente un système d’assistance robotique aux personnes présentant un handicap moteur. Une base mobile permet d’aller saisir un objet quelconque n’importe ou dans un environnement donné. La préhension s’effectue au moyen d’un bras robotisé doté d’un couple de webcams et monté sur la base. L’utilisateur définit de manière très simple l’...
Article
Full-text available
Abstract—This paper presents our contribution to vision based robotic assistance for people with disabilities. The rehabilitative robotic,arms,currently,available on,the,market,are,directly controlled by adaptive devices, which lead to increasing strain on the user’s disability. To reduce the need for user’s actions, we propose,here several vision-...
Conference Paper
This document, presents the AVISO system developed to provide severely disabled people (quadriplegic) with a function allowing them to grasp objects in their environment. The proposed solution relies on a dedicated robot arm with a gripper and a controller allowing automatic vision control of robot's motion. The grasping function proposed does not...
Conference Paper
Full-text available
Assistance to disabled people is still a domain in which a lot of progress needs to be done. The more severe the handicap is, more complex are the devices, implying increased efforts to simplify the interactions between man and these devices. In this document we propose a solution to reduce the interaction between a user and a robotic arm. The syst...
Conference Paper
Full-text available
A critical assumption of many multi-view control systems is the initial visibility of the regions of interest from all the views. An initialization step is proposed for a hybrid eye-in-hand/eye-to-hand grasping system to fulfil this requirement. In this paper, the object of interest is assumed to be within the eye-to-hand field of view, whereas it...
Conference Paper
Full-text available
Pose estimation has many applications in robotics, such as robot localization using a vision sensor, or position-based visual servoing. In this paper, a simple but an efficient pose estimation method from minimal point pairs is given. The method we propose is based on exhaustive optimization of only two most critical parameters. It allows to solve...
Conference Paper
This paper presents a new statistical method to match feature points from stereo pairs of images. The proposed method is evaluated in terms of effectiveness, robustness and computational speed. Evaluation was performed on several pairs of real stereo, images of natural scenes taken onboard an unmanned aerial vehicle. The results confirm that the pr...
Conference Paper
Full-text available
This paper presents a fast method to evaluate the accuracy of a calibration method of a stereovision rig built with commercially available cameras. The method allows by retro projection to quantify very precisely errors in terms of depth reconstruction. The proposed method has been evaluated on the depth reconstruction of real scenes from images ta...
Article
Full-text available
This paper presents a statistical method to match feature points from stereo pairs of images. The proposed method is evaluated in terms of effectiveness, robustness and computational speed. The evaluation was performed on several pairs of real stereo images of natural scenes taken onboard an unmanned aerial vehicle. The results show that the propos...
Article
In this paper, we describe the human computer interface developed in the AVISO system to assist severely handicaped people (tetraplegie) in intuitively grasping objects of their environment. The proposed solution relies on usage of a dedicated robot arm with a gripper and a computer allowing automatic vision control of robot's motion. The grasping...
Article
Full-text available
The AMRA project, carried out by a consortium including industrials and research partners, aims at implementing an Augmented Reality (AR) system for mobile use in industrial applications such as train maintenance and repairs in industrial sites. The adopted solution is a video see-through system where a tablet-PC is used as an augmented window. The...
Conference Paper
This paper proposes a biologically inspired method for depth recovery from stereo rectified images. Two principles are used in order to speed-up the image matching phase: the photoreceptor information transmission (spike generation) principle and convenient coding of neuron (pixel) neighbourhood data. This latter provides the robustness to match an...
Article
Full-text available
Cette communication propose une méthode, rapide et inspirée de la biologie, de recouvrement de la profondeur à partir des images stéréoscopiques. Deux principes sont mis en oeuvre afin d'améliorer la phase d'appariement d'images : l'activation effective d'un neurone (génération d'un potentiel d'action) et le codage convenable d'un voisinage du neur...
Article
The Intelligent Glasses System (IGS) is an electronic travel aid which gives blind people D environment structure information. The device assists users in obstacle avoidance by providing them a nearest environment tactile map where the obstacles are represented. This paper outlines briefly the IG system, and addresses first results on the validatio...
Article
A powerful hydraulic manipulator may be a useful tool to deal efficiently with the remote handling, dexterous operations required during the Divertor maintenance. Its main advantages are a good weight capacity, the large range of tasks that can be addressed and its capability to recover from unforeseen situations. On the other hand, it implies inte...
Article
Full-text available
In this paper, we present the service developed for cognitive and physical stimulation of elderly or handicapped people. The services rely on an assistant mobile robot composed of a mobile platform on top of which is set up a manipulator arm. Stimulation relies on scenarios defined together with the partners of ITEA MIDAS project. In order to build...
Article
Full-text available
In this paper we present the MAGRITTE 3D graphic supervisor. MAGRITTE is dedicated to assist an operator in remote handling tasks. It is designed to be intuitive to reduce the stress of operators involved in complex operations. MAGRITTE is especially made to adapt to on line interventions. It relies on the usage of 3D graphic representation and pro...

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Projects

Projects (6)
Project
Inspection and Maintenance (I&M) represents a huge economic activity spanning across sectors such as energy, transport, civil engineering. EU hosts over 50% of I&M robotics offer but there is a bottleneck connecting it to the market and high potential applications. RIMA is a 4-year project aiming to establish a network of 13 Digital Innovation Hubs (DIH) on robotics sharing best practices and providing services to facilitate uptake of I&M technologies. Our challenge is to reinforce this connection and to provide education and training on robotics I&M and to connect the value chain - research, technology companies, service providers, end users and investors- for accelerating economic growth in the field: - RIMA is building upon the network pioneered by SPRINT Robotics extending it to all relevant sectors across the value chain. - The RIMA network encompasses: o leading research organizations supporting one DIH per region aligned with regional policies and industry sectors. o Sectorial associations who will make a bridge with end users and industries. - RIMA will offer services including support to testing and technology transfer, coaching and training on robotics for I&M, process optimization and communication. 50.5% of RIMA’s budget will be distributed to SMEs to run experiments using FSTP - RIMA will advise on funding opportunities relying on the S3 Thematic Platform on robotics for I&M federating the common ambition of 13 EU regions. - Network sustainability will be ensured by adapting the SPRINT business model Expected results are (i) increased competitiveness of EU I&M Robotics, (ii) economic added value by increased productivity and availability of the critical infrastructure (iii) social and environmental impact through improved safety and less emission of hazardous substances (iv) the constitution of a sustainable and scalable (open to new members) DIH network aligned with the industrial and European policies and ambitions
Project
Improvement of cooperation between all robotics stakeholders and domains euRobotics targets two main objectives: the improvement of cooperation between industry and academia and the enhancement of public perception of European robotics. In an ideal world, academia finds solutions required by industry to develop products which fulfil a market need. Both communities benefit from this cooperation because academia receives funds through technology transfers and industry can enhance their market position through innovative products. This project will give European robotics an advantage by kick-starting several of the stimulations required for this ideal world to be realised. The strategic impact of euRobotics lies in defining and implementing activities involving all relevant stakeholders and to thereby allowing European robotics to maintain its strong position and to gain worldwide leadership.
Archived project
Development of functionalities enabling quadriplegic people to use a mobile manipulator for every day life tasks. The main focus of the ARMEN project is on manipulation of object of the environment. The approach chosen relies on - limiting the time needed to adapt the machine to the workspace - reducing the interactions needed to trigger complex task through the development of "one-clic solutions" for human machine interaction The solution was assessed with twenty quadriplegic people and more that a hudred valid people in real settings (living labs) under the control of physicians and occupational therapists.