Project Description

Robohow is a four-year European research project that started in February 2012. It aims at enabling robots to competently perform everyday human-scale manipulation activities - both in human working and living environments.

In order to achieve this goal, Robohow pursues a knowledge-enabled and plan-based approach to robot programming and control.

The vision of the project is that of a cognitive robot that autonomously performs complex everyday manipulation tasks and extends its repertoire of such by acquiring new skills using web-enabled and experience-based learning as well as by observing humans.

Period

2012-2016
Title Authors Conference/Book Year bib pdf
GPU Robot Motion Planning Using Semi-Infinite Nonlinear Programming B. Chrétien, A. Escande, A. Kheddar IEEE Transactions on Parallel and Distributed Systems 2016
Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots B. Chrétien, A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Towards force sensing from vision: Observing hand-object interactions to infer manipulation forces Tu-H. Pham, A. Kheddar, A. Qammaz, A. Argyros IEEE/CVF Conference on Computer Vision and Pattern Recognition 2015
Software Tools for Nonlinear Optimization - Modern Solvers and Toolboxes for Robotics - T. Moulard, B. Chrétien, E. Yoshida Journal of the Robotics Society of Japan 2014
Integration of non-inclusive contacts in posture generation S. Brossette, A. Escande, J. Vaillant, F. Keith, T. Moulard, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Model preview control in multi-contact motion -- Application to a humanoid robot H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko, E. Yoshida IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing D. Agravante, A. Cherubini, A. Bussy, P. Gergondet, A. Kheddar IEEE International Conference on Robotics and Automation 2014
Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results S. Brossette, J. Vaillant, F. Keith, A. Escande, A. Kheddar IEEE International Conference on Robotics, Automation and Mechatronics 2013
Proactive behavior of a humanoid robot in a haptic transportation task with a human partner A. Bussy, P. Gergondet, A. Kheddar, F. Keith, A. Crosnier Ro-Man'2012: International Symposium on Robot and Human Interactive Communication 2012