David Flavigne

David Flavigne

PhD

About

9
Publications
1,427
Reads
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85
Citations
Additional affiliations
October 2010 - October 2013
Sorbonne Université
Position
  • PostDoc Position
October 2007 - November 2010
Paul Sabatier University - Toulouse III
Position
  • PhD Student

Publications

Publications (9)
Conference Paper
This work deals with grasping using an anthropomorphic hand. The main idea is to easily compute a grasp for a robotic hand in the context of a given task. This paper describes a method that does not require learning. Starting from works in the neuroscience field on human hand postural synergies, we introduce a two-level algorithm that uses a mathem...
Article
This paper presents an interactive motion planning system to compute free collision motion in a numerical model. The system is based on interaction between a user and a motion planning algorithm. On one hand the user moves the object with an interactive device and on the other hand a motion planning algorithm searches a solution in the configuratio...
Conference Paper
Full-text available
This paper presents a method aimed at enhancing interaction between a path planning algorithm and a user to guide a robot motion task in a virtual environment. Existing works use a two-step decomposition which limits the interaction between the user and the ongoing process. We propose a modification of a classic motion planning method, the Rapidly-...
Conference Paper
Full-text available
This paper presents interaction between a user and a robot to guide motion through motion planning algorithm. The interaction aims at improving the guidance of an operator during a robot motion task in a virtual environment with the help of an automatic path planning algorithm. Existing works use a two-step decomposition which limits the interactio...
Conference Paper
Full-text available
The trajectories of walking humans can be divided into two major classes: first, nonholonomic trajectories during which the orientation of the human body and the one of the motion are aligned (e.g., straight walking), and second, holonomic ones during which lateral velocities are observed (e.g., side-steps). The major contribution of this work is a...
Conference Paper
Full-text available
Even if the probabilistic motion planner methods (PRM or RRT) have been successful for robot path planning, it remains a challenge in a constrained cases with narrow passages. The RRT is a powerful tool for a simple request, but the performances of approaches falls sharply when the search has several narrow passages. The introduction of several tre...
Article
Full-text available
This thesis presents a motion planning method that integrates a user input into the planning loop to find a path and animate a virtual character. After a general introduction, a general presentation of the motion planning problem is made and the most known algorithms are presented in the second chapter. Then, two works on which this chapter is base...
Conference Paper
Full-text available
This paper presents an application of a motion planning algorithm to interactive systems. The proposed approach aims at improving the guidance of an operator during an assembling/dis-assembling task in a virtual environment with the help of an automatic path planning algorithm in PLM operations (PLM stands for product lifecycle management, which is...
Article
In this work, we present an application of motion planning to interaction with a virtual character or robot. The work is made in the context of moving an object from an initial place to a goal.

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Project (1)