Philippe Fraisse Homepage

Stable-by-Design Kinematic Control Based on Optimization

This paper presents a new kinematic control paradigm for redundant robots based on optimization. The general approach takes into account convex objective functions with inequality constraints and a specific equality constraint resulting from a Lyapunov function, which ensures closed-loop stability by design. Furthermore, we tackle an important particular case by using a convex combination of quadratic and l1-norm objective functions, making possible for the designer to choose different degrees of sparseness and smoothness in the control inputs. We provide a pseudo-analytical solution to this optimization problem and validate the approach by controlling the center of mass of the humanoid robot HOAP3.

• V. M. Gonçalves, B. V. Adorno, A. Crosnier, and P. Fraisse. Stable-by-Design Kinematic Control Based on Optimization. IEEE Transactions on Robotics, pages 1-13, January 2020.
  [Bibtex]

  @article{2020-tro-vg,
  author={Gonçalves,V. M. and Adorno, B. V. and Crosnier, A. and Fraisse, P.},
  journal= {IEEE Transactions on Robotics},
  title={Stable-by-Design Kinematic Control Based on Optimization},
  year={2020},
  month={January},
  volume={},
  number={},
  pages={1-13},
  note={},
  abstract={},
  keywords={kinematic control},
  doi={10.1109/TRO.2019.2963665},
  ISSN={1941-0468}
  }

Motion Discontinuity-Robust Controller for Steerable Mobile Robots

(IEEE RA-L 2017): Steerable wheeled mobile robots (SWMR) are able to perform arbitrary 3D planar trajectories, only after initializing the steer joint vector to the proper values. These robots employ fully steerable conventional wheels. Hence, they have higher load carrying capacity than their holonomic counterparts, and as such are preferable for industrial applications. Industrial setups nowadays are being prepared for the emerging field of human-robot collaboration/cooperation. Such field is highly dynamic, due to fast moving human workers, sharing the operation space. This imposes the need for human safe trajectory generators, that can lead to frequent halts in motion, re-planning, and to sudden, discontinuous changes in the position of the robot’s instantaneous center of rotation (ICR). Indeed, this requires steer joint reconfiguration to the newly computed trajectory. This issue is almost ignored in the literature, and motivates this work. The authors propose a new ICR-based kinematic controller, that is capable of handling discontinuity in commanded velocity, while respecting the maximum joint performance limit. This is done by formulating a quadratic optimization problem with linear constraints in the 2D ICR space. The controller is also robust against representation and kinematic singularities. It has been tested successfully on the Neobotix-MPO700 industrial mobile robot.

• M. Sorour, A. Cherubini, P. Fraisse, and R. Passama. Motion Discontinuity-Robust Controller for Steerable Mobile Robots. IEEE Robotics and Automation Letters, 2:452-459, April 2017. (Selected for oral presentation in Icra 2017)
  [Bibtex]

  @article{2017-mohamed-ral2017,
  author={Sorour, M. and Cherubini, A. and Fraisse, P. and Passama, R.},
  journal= {{IEEE Robotics and Automation Letters}},
  title={Motion Discontinuity-Robust Controller for Steerable Mobile Robots},
  year={2017},
  month={April},
  volume={2},
  number={},
  pages={452-459},
  note={(Selected for oral presentation in Icra 2017)},
  abstract={},
  keywords={human-robot interaction},
  doi={},
  ISSN={}
  }

Parsimonious Kinematic Control of Highly Redundant Robots 

(IEEE RA-L, 2016): When a robot is highly redundant in comparison to the task to be executed, current control techniques are not “economic” in the sense that they demand, most of the time unnecessarily, all the joints to move. Such behavior can be undesirable for some applications. In this direction, this work proposes a new control paradigm based on linear programming that intrinsically provides a parsimonious control strategy, that is, one in which few joints move. In addition to a formal stability proof, the paper presents simulation and experimental results on the HOAP-3 humanoid robot. Finally, a comparison is made with a least-square method based on the pseudoinverse of the task Jacobian, showing that the proposed method indeed uses fewer joints than the classic one.

• V. Mariano Gonçalves, P. Fraisse, A. Crosnier, and B. V. Adorno. Parsimonious Kinematic Control of Highly Redundant Robots. IEEE Robotics and Automation Letters, 1:65-72, January 2016. (Selected for oral presentation at ICRA 2016)
  [Bibtex]

  @article{marianogoncalves:lirmm-01198399,
  TITLE = {{Parsimonious Kinematic Control of Highly Redundant Robots}},
  AUTHOR = {Mariano Gon{\c c}alves, V. and Fraisse, P. and Crosnier, A. and Adorno, B. V.},
  URL = {http://hal-lirmm.ccsd.cnrs.fr/lirmm-01198399},
  JOURNAL = {{IEEE Robotics and Automation Letters}},
  INSTITUTION = {{LIRMM ; CNRS ; Universit{\'e} de Montpellier ; Universidade Federal Minas Gerais}},
  YEAR = {2016},
  MONTH = {January},
  volume={1},
  pages={65-72},
  note={(Selected for oral presentation at ICRA 2016)},
  doi={10.1109/LRA.2015.2506259},
  keywords={redundant systems},
  PDF = {http://hal-lirmm.ccsd.cnrs.fr/lirmm-01198399/file/Parsimonious_kinematic_control_2015_VMG_PF_AC_BVA.pdf},
  HAL_ID = {lirmm-01198399},
  HAL_VERSION = {v1},
  }

Kinematic modeling and control for human-robot cooperation considering different interaction roles
(Robotica, 2015)
This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative pose between the human hand and the robot hand. We develop a unified kinematic model that takes into account the human-robot system from a holistic point of view, and we also propose a kinematic control strategy for pHRI that comprises different levels of shared autonomy. Since the kinematic model takes into account the complete human-robot interaction system and the kinematic control law is closed loop at the interaction level, the kinematic constraints of the task are enforced during its execution. Experiments are performed in order to validate the proposed approach, including a particular case where the robot controls the human arm by means of functional electrical stimulation (FES), which may potentially provide useful solutions for the interaction between assistant robots and impaired individuals (e.g., quadriplegics and hemiplegics).

• B. Adorno, A. Bo, and P. Fraisse. Kinematic Modeling and Control for Human-Robot Cooperation Considering Different Interaction Roles. Robotica, pages 1-18, February 2015.
  [Bibtex]

  @article{2015-bva,
  author={Adorno, B. and Bo, A. and Fraisse, P.},
  journal= {Robotica},
  title={Kinematic Modeling and Control for Human-Robot Cooperation Considering Different Interaction Roles},
  year={2015},
  month={February},
  volume={},
  number={},
  pages={1-18},
  note={},
  abstract={},
  keywords={publier, Human-robot Interactions},
  doi={10.1017/S0263574714000356},
  ISSN={1469-8668}
  }

Multimodal control for human-robot cooperation (IROS’13)

For intuitive human-robot collaboration, the robot must quickly adapt to the human behavior. To this end, we propose a multimodal sensor-based control framework, enabling a robot to recognize human intention, and consequently adapt its control strategy. Our approach is marker-less, relies on a Kinect and on an on-board camera, and is based on a unified task formalism. Moreover, we validate it in a mock-up industrial scenario, where human and robot must collaborate to insert screws in a flank.

• A. Cherubini, R. Passama, A. Meline, and P. Fraisse. Multimodal control for human-robot cooperation. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), nov 2013.
  [Bibtex]

  @INPROCEEDINGS{CPM2013,
  author={Cherubini, A. and Passama, R. and Meline, A. and Fraisse, P.},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={Multimodal control for human-robot cooperation},
  year={2013},
  month={nov},
  volume={},
  number={},
  pages={},
  keywords={iros, Human-Robot Interaction},
  doi={},
  ISSN={}}