Olivier Stasse

Olivier Stasse
Laboratoire d’Analyse et d’Architecture des Systèmes (LAAS) | LAAS · Department of Robotics (ROB)

CNRS Researcher

About

163
Publications
33,580
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Introduction
My main scientific interest is how to make anthropomorphic robotic system move motivated by a high level task and using its sensor. The challenge is to make such system exhibit some form of intelligence by making them as autonomous as possible. The scientific tool I am using the most are: optimization, control, computer science generally inspired from biological performances and concepts. I am a strong suppoter of open and reproducible science.

Publications

Publications (163)
Article
Full-text available
This article presents a comparison of three control schemes applied on the commercially available TALOS humanoid robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: walking on flat and non-flat terrain and climbing stairs. The different models are based on position control (first and secon...
Article
Cobotic applications require a good knowledge of human behaviour in order to be cleverly, securely and fluidly performed. For example, to make a human and a humanoid robot perform a co-navigation or a co-manipulation task, a model of human walking trajectories is essential to make the robot follow or even anticipate the human movements. This paper...
Article
Full-text available
In order to smoothly perform interactions between a humanoid robot and a human, knowledge about the human locomotion can be efficiently used. Indeed, in a human-robot collaboration, a prediction model of the human behaviour allows the robot to act proactively. In this paper, an optimal control based model predicting the human Center of Mass (CoM) t...
Preprint
Full-text available
This paper presents a comparison of three control schemes applied on the commercially available TALOS Humanoid Robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: walking on flat and non-flat terrain and climbing stairs. The different models are based on position control (first and second...
Preprint
Full-text available
Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/torque limitations. This paper presents a novel seri...
Article
Full-text available
Synthesizing legged locomotion requires planning one or several steps ahead (literally): when and where, and with which effector should the next contact(s) be created between the robot and the environment? Validating a contact candidate implies a minima the resolution of a slow, nonlinear optimization problem, to demonstrate that a center of mass (...
Conference Paper
Full-text available
This paper describes the implementation of a motion generation pipeline motivated by vision for a TALOS humanoid robot. From a starting configuration and given a set of visual features and their desired values, the problem is to find a motion which makes the robot reach the desired values of the visual features. In order to achieve a feasible Gazeb...
Article
This paper proposes a real-time walking pattern generator (WPG) based on model predictive control (MPC). Since reducing the calculation time is a crucial problem in real-time WPG, we consider introducing basis functions to reduce the number of control input. The control inputs in the MPC are described by a series of basis functions. Compared with t...
Conference Paper
Full-text available
We introduce Pinocchio, an open-source software framework that implements rigid body dynamics algorithms and their analytical derivatives. Pinocchio does not only include standard algorithms employed in robotics (e.g., forward and inverse dynamics) but provides additional features essential for the control, the planning and the simulation of robots...
Chapter
Full-text available
Humanoid robots are challenging mechatronics structures with several interesting features. Choosing a humanoid robot to develop applications or pursue research in a given direction might be difficult due to the strong interdependence of the technical aspects. This paper aims at giving a general description of this interdependence and highlight the...
Article
Full-text available
In this paper we report results on benchmarking a HRP-2 humanoid robot. The humanoid robots of this serie are known to be very robust. They have been successfully used by several research groups for the design of new motion generation algorithms. As such it is a reference in the category of electrically driven humanoid robot. As new humanoid robots...
Preprint
Full-text available
The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dimensionality of the configuration space. We propose to reduce the dimensionality of the configuration space by introducing the irreducible path --- a path having a minimal...
Article
Full-text available
The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dimensionality of the configuration space. We propose to reduce the dimensionality of the configuration space by introducing the irreducible path — a path having a minimal sw...
Book
Full-text available
Humanoid robots are challenging mechatronics structures with several interesting features. Choosing a humanoid robot to develop applications or pursue research in a given direction might be difficult due to the strong interdependence of the technical aspects. This paper aims at giving a general description of this interdependence and highlight the...
Chapter
Full-text available
In order for humanoid robots to evolve autonomously in a complex environment, they have to perceive it, build an appropriate representation, localize in it, and decide which motion to realize. The relationship between the environment and the robot is rather complex as some parts are obstacles to avoid, other possible support for locomotion, or obje...
Article
Previous studies showed the existence of implicit interaction rules shared by human walkers when crossing each other. Especially, each walker contributes to the collision avoidance task and the crossing order, as set at the beginning, is preserved along the interaction. This order determines the adaptation strategy: the first arrived increases his/...
Chapter
The modeling and online-generation of human-like body motion is a central topic in computer graphics and robotics. The analysis of the coordination structure of complex body movements in humans helps to develop flexible technical algorithms for movement synthesis. This chapter summarizes work that uses learned structured representations for the syn...
Article
Full-text available
Skilled human full-body movements are often planned in a highly predictive manner. For example, during walking while reaching towards a goal object results in steps and body postures are adapted to the goal position already multiple steps before the goal contact. The realization of such highly predictive behaviors for humanoid robots is a challenge...
Article
Full-text available
COCoMoPL is a recently developed approach Combining Optimal Control, Movement Primitives and Learning for the generation of humanoid walking motions [6]. It solves optimal control problems based on detailed dynamic models of the robot for a variety of walking parameters and uses the solutions as training data to create movement primitives that are...
Article
Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision avoidance between a human and a robot during locomotion. Having in mind previous results on human obstacle avo...
Conference Paper
Full-text available
New actuators are expected to endow robots with the capability to execute explosive movements such as throwing, kicking or jumping. In the present paper, we present a ball throwing and kicking tasks performed by an anthropomorphic arm with each joint actuated by an agonist-antagonistic pair of Mckibben artificial muscles. Pneumatic actuators have i...
Conference Paper
Full-text available
The one-third power law models how human speed of motion depends on the path's curvature. This paper studies the interest of using this law for humanoid robot walking control along a planar reference trajectory. We predicted that humanoid robots following a reference trajectory may benefit from one-third power law speed profiles by reducing closed-...
Conference Paper
Full-text available
This paper presents a generic and efficient approach to generate dynamically consistent motions for under-actuated systems like humanoid or quadruped robots. The main contribution is a walking pattern generator, able to compute a stable trajectory of the center of mass of the robot along with the angular momentum, for any given configuration of con...
Article
Full-text available
The contribution of this work is to show that real-time nonlinear model predictive control (NMPC) can be implemented on position controlled humanoid robots. Following the idea of " walking without thinking " , we propose a walking pattern generator that takes into account simultaneously the position and orientation of the feet. A requirement for an...
Article
Full-text available
This paper discusses a strategy for a humanoid robot to pull a fire hose while walking. A hybrid controller on the robot's wrist holding the fire hose is implemented for pulling it. Through simulation analysis it is shown that when the robot walks while pulling the fire hose a drift in the walking direction is generated. To cope with this drift and...
Article
Full-text available
In October 2012, the humanoid robot HRP-2 was presented during a live demonstration performing fine-balanced dance movements with a human performer in front of more than 1000 people. This success was possible by the systematic use of operational-space inverse dynamics to compute dynamically consistent movements following a motion capture pattern de...
Conference Paper
Full-text available
Controlling the robot with a permanently-updated optimal trajectory, also known as model predictive control, is the Holy Grail of whole-body motion generation. Before obtaining it, several challenges should be faced: computation cost, non-linear local minima, algorithm stability, etc. In this paper, we address the problem of applying the updated op...
Article
Full-text available
Multi-contact motion generation is an important problem in humanoid robotics because it generalizes bipedal locomotion and thus expands the functional range of humanoid robots. In this paper, we propose a complete solution to compute a fully-dynamic multi-contact motion of a humanoid robot. We decompose the motion generation by computing first a dy...
Article
Full-text available
Irreducibility is a theoretical framework for completeness-preserving dimensionality reduction in motion planning. While classical motion planning searches the full space of continuous trajectories, irreducible motion planning searches the space of minimal swept volume trajectories, called the irreducible trajectory space. We prove that planning in...
Article
Full-text available
We introduce a novel notion for lowering the dimensionality of motion planning problems: Irreducibility. Irreducibility of a configuration space trajectory τ means: We cannot find another configuration space trajectory τ′, such that the swept volume of τ′ is included in the swept volume of τ. The main contribution of our work is twofold: First, we...
Article
Full-text available
Time-optimal path parameterization (TOPP) under actuation bounds plays a fundamental role in many robotic theories and applications. This algorithm was first developed and perfected for classical serial robotic manipulators whose actuation is nonredundant. Yet, redundantly actuated systems, such as parallel manipulators or humanoid robots in multic...
Article
Full-text available
This paper presents a complete framework (estimation, identification and control) for the implementation of joint-torque control on the humanoid robot HRP-2. While torque control has already been implemented on a few humanoid robots, this is one of the first implementations of torque control on a robot that was originally built to be position contr...
Article
Full-text available
Exploiting structure is essential to an understanding of motion planning. Here, we exploit the topology of the environment to discover connected components. Inside a connected component, instead of planning one trajectory in configuration space, motion planning can be seen as optimizing a set of homotopically equivalent particle trajectories. In th...
Article
Full-text available
This paper proposes a novel visual servoing ap-proach to control the dynamic walk of a humanoid robot. Online visual information is given by an on-board camera. It is used to drive the robot towards a specific goal. Our work is built upon a recent reactive pattern generator that make use of Model Predictive Control (MPC) to modify footsteps, center...
Article
Full-text available
This paper proposes a new generic strategy to investigate the dynamic limits of the humanoid robot HRP-2 based on whole body optimal control optimization. In this study we exploit the intuitive access to complex motion characteristics, given by optimal control, to effectively resolve a major technical coupling effect, namely between the ankle elast...
Conference Paper
Full-text available
In this contribution, Metapod, a novel C++ library computing efficiently dynamic algorithms is presented. It uses template-programming techniques together with code-generation. The achieved performances shows some advantage over the state-of-the art dynamic library RBDL mostly on ATOM processor and for the inertia matrix computation, which are rele...