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Nonholonomic systems: from mobile robots to the rolling man

Monday, 8. October 2018 - 11:00
Jean-Paul Laumond
Summary: The talk reports more than 30 years of research conducted at LAAS on nonholonomic systems applied to mobile robotics and biomechanics. After introducing the wheel as a parangon of nonholonomic systems, the first part of the talk will show how mobile robotics has renewed since the 1990’s the research in robot motion planning and control by introducing the need to combine computational geometry and geometric control theory (optimal control and differential flatness). Doing so, Hilare was able in 1997 to park itself while maneuvering a trailer. In a second part of the presentation, we will focus on a multidisciplinary research action exploring the motor synergies of anthropomorphic walking. By combining biomechanical, neurophysiology, and robotics perspectives, it is shown that the wheel offers a relevant model to better understand human locomotion and to design new bipedal robot architectures.
BioJean-Paul Laumond, IEEE Fellow, is a roboticist. He is Directeur de Recherche at LAAS-CNRS (team Gepetto) in Toulouse, France. His research is about robot motion planning and control. In 2001 and 2002 he created and managed Kineo CAM, a spin-off company from LAAS-CNRS devoted to develop and market motion planning technology. Siemens acquired Kineo CAM in 2012. In 2006, he launched the research team Gepetto dedicated to Human Motion studies along three perspectives: artificial motion for humanoid robots, virtual motion for digital actors, and natural motions of human beings. He has published more than 150 papers in international journals and conferences in Robotics, Computer Science, Automatic Control and in Neurosciences. His current project Actanthrope (ERC-ADG 340050) is devoted to the computational foundations of anthropomorphic action. He teaches Robotics at Ecole Normale Supérieure in Paris. He has been the 2011-2012 recipient of the Chaire Innovation technologique Liliane Bettencourt at Collège de France in Paris. He is the 2016 recipient of the IEEE Inaba Technical Award for Innovation Leading to Production. He is a member of the French Academy of Technologies and of the French Academy of Sciences