Generation of whole-body optimal dynamic multi-contact motions
We propose a method to plan optimal whole-body dynamic motion in multi-contact non-
gaited transitions. Using a B-spline time parameterization for the active joints, we turn the …
gaited transitions. Using a B-spline time parameterization for the active joints, we turn the …
A dedicated solver for fast operational-space inverse dynamics
N Mansard - 2012 IEEE International Conference on Robotics …, 2012 - ieeexplore.ieee.org
The most classical solution to generate whole-body motions on humanoid robots is to use
the inverse kinematics on a set of tasks. It enables flexibility, repeatability, sensor-feedback if …
the inverse kinematics on a set of tasks. It enables flexibility, repeatability, sensor-feedback if …
fMRI robotic embodiment: a pilot study
We present a robotic embodiment experiment based on real-time functional Magnetic
Resonance Imaging (rtfMRI). To our knowledge, this is the first time fMRI is used as an input …
Resonance Imaging (rtfMRI). To our knowledge, this is the first time fMRI is used as an input …
Impact of functional electrical stimulation of lower limbs during sitting pivot transfer motion for paraplegic people
J Jovic, S Lengagne, P Fraisse… - … Journal of Advanced …, 2013 - journals.sagepub.com
Individuals with Spinal Cord Injury (SCI), perform Sitting Pivot Transfer (SPT) motion around
fifteen times a day using upper extremities. It can lead to upper limbs pain and often …
fifteen times a day using upper extremities. It can lead to upper limbs pain and often …
Generation of multi-contact motions with passive joints: Improvement of sitting pivot transfer strategy for paraplegics
S Lengagne, J Jovic, C Pierella… - 2012 4th IEEE RAS …, 2012 - ieeexplore.ieee.org
In this paper, we present a motion generation method to improve the Sitting Pivot Transfer
(SPT) strategy. We propose to analyze the impact of the torque generated on lower limbs by …
(SPT) strategy. We propose to analyze the impact of the torque generated on lower limbs by …