robot dynamics awarness

Dynamics identification has been at the core of our research from the begnining. We seek to improve dynamics identification by taking it to the next level and enable to be dynamic aware. Such research topics require good skills in linear algebra and programming, and to work in simulation and on real robots. Some aspects of this reserach can be very novelty oriented, some could be more implementation related.


related publications

T. Katsumata, B. Navarro, V. Bonnet, P. Fraisse, A. Crosnier, G. Venture, Optimal exciting motion for fast robot identification. Application to contact painting tasks with estimated external forces, Robotics and Autonomous Systems, No. 113, pp. 149-159, 2019. DOI

V. Bonnet, K. Pfieffer, P. Fraisse, A. Crosnier, T. Asfour, G. Venture, Pseudo-online generation of optimal exciting motions for identification of a humanoid robot, Int. J. of Humanoid Robotics, Vol. 15, No. 6, pp, 1850024-1-1850024-22, 2018. DOI

S. Futamure, V. Bonnet, R. Dumas, G. Venture, A sensitivity analysis method for the body segment inertial parameters based on ground reaction and joint moment regressor matrices, J. of Biomechanics, Vol. 64, No. 7, pp. 85-92, 2017. doi:

. Bonnet, P. Fraisse, A. Crosnier, M. Gautier, A. Gonzalez, G. Venture, Optimal Exciting Dance for Identifying Inertial Parameters of an Anthropomorphic Structure, IEEE Trans. in Robotics, Vol. 32, No. 4, pp. 823-836, 2016.

J. Jovic, A. Escande, K. Ayusawa, E. Yoshida, A. Kheddar, G. Venture, Humanoids and Humans Inertia Parameters Identification using Hierarchical Optimization, IEEE Trans. on Robotics, Vol. 32, No 3, pp 726-735, 2016.

V. Bonnet, G. Venture, Fast determination of the planar body segment inertial parameters using affordable sensors, IEEE Trans. on Neural Systems and Rehabilitation Engineering, Vol. 23, No. 4, pp. 628-635, 2015.

K. Ayusawa, G. Venture and Y. Nakamura, Identifiability and Identification of Inertial Parameters Using the Underactuated Base-Link Dynamics for Legged Multibody Systems, Int. J. Robotics Research, Vol. 33, No. 3, pp. 446-468, 2013. 10.1177/0278364913495932 pdf

G. Venture, P.-J. Ripert, W. Khalil, M. Gautier, P. Bodson, Modelling and identification of passenger car dynamics using robotics formalism, IEEE Trans. on Intelligent Transportation Systems, Vol.7, No3, pp 349-359, Sept. 2006. pdf@ieeexplore




copyright Gentiane Venture 2009