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.

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 (TPDS) 2016
Capturing and Reproducing Hand-Object Interactions Through Vision-Based Force Sensing Tu -H. Pham, A. Kheddar, A. Qammaz, A. Argyros IEEE ICCV Workshop on Object Understanding for Interaction (OUI) 2015
Towards Force Sensing From Vision: Observing Hand-Object Interactions to Infer Manipulation Forces Tu -H. Pham, A. Kheddar, A. Qammaz, A. Argyros IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2015
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 (IROS) 2015
Collaborative human-humanoid carrying using vision and haptic sensing D. Agravante, A. Cherubini, A. Bussy, P. Gergondet, A. Kheddar Robotics and Automation (ICRA) 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 Internation Conference on Intelligent Robots and Systems (IROS) 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
Software Tools for Nonlinear Optimization: Modern Solvers and Toolboxes for Robotics T. Moulard, B. Chrétien, E. Yoshida Journal of the Robotics Society of Japan (JRSJ) 2014
Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results S. Brossette, J. Vaillant, F. Keith, A. Escande, A. Kheddar Cybernetics and Intelligent Systems Robotics, Automation and Mechatronics (CISRAM) 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