index - Interactive Digital Humans

The goal of IDH (Interactive Digital Humans) is to develop robots for helping people in healthcare and industrial scenarios.
Our expertise lies in the robot software (control, perception, artificial intelligence) rather than its hardware (mechanical and electronic design).
In a nutshell, we provide existing commercial robots with the cognitive capabilities needed to help humans. First, our robots must be capable of inferring the human intention, using multimodal sensing. This requires solid representations of the human model, and expertise in the use of cutting edge sensors to update this model and to control the robot accordingly.
These sensors include 3D vision, tactile/proximity skins and even human-machine interfaces (BCI and EMG), with an emphasis on signal processing and machine learning applied to physiological and human movement data.
A crucial objective is that the user controls the robot in a transparent way, to ultimately feel embodied in his/her augmented avatar.
To achieve this feeling of embodiment, our robots are anthropomorphic, i.e., humanoid.
A huge research challenge consists in controlling their whole body (feet, arms, head…) to realise multiple simultaneous tasks (just as we humans do). This often requires planning and controlling in real time the robot contact points with the environment as well as with the human user, in a manner that should be safe for robot, person and environment.
Recently, we have pushed these aspects forward, towards non-conventional manipulation, including intentional impacts, and intentional deformation of soft objects..

Open Access Files

77 %

Number of full texts

417

Number of records

138

Publishers' policy on open archives

Mapping of collaborations

Tags

Robot control Robot vision systems Mobile manipulator Chebyshev center Robotique Contrôle Tetraplegia Robotique humanoïde Humanoid locomotion Posture Optimisation Tracking Force control Recurrence quantification analysis Cameras Embodiment Center of mass Motion capture Biped walking robot Humanoids Robot kinematics Manipulators Kinematics Haptics Robotics Telerobotics Aging Sensor-based control Model predictive control Humanoid Collaborative robots for manufacturing industry Dual-arm cooperation Dual quaternion Human-robot interaction Torque control Deformable Plastic Objects Trajectory Planning Electromyography interface Adaptive control Visualization Multi-contact Legged locomotion Task analysis Visual servoing Humanoid robotics Elderly Force Robot sensing systems Sensors Visual Servoing Humanoid robots Spectral analysis Complexity Physical Human-Robot Interaction Quadratic programming Action Motion Planning Design Contact modeling Automatique Registration Haptic interfaces Robots Humanoid robot embodiment Physical human-robot interaction Contact Planning Humanoid and Bipedal Locomotion Compliant control Motion control Medical robotics Active compliance Awake brain surgery Teleoperation End effectors Compliant soles Discretization Architecture de contrôle logicielle Cooperative systems Context aware services Motion planning Robotic Manipulation Activity recognition Manipulation Planning Contact planning Kinematic control Manipulation Balance Control Ambient Assisted Living Humanoid Robots Robots humanoïdes Optimization Adaptive systems Humanoid robot Human-Robot Interaction Identification Constraints Calibration Dynamics