The objective of the project is the generic study of the various aspects
on the control of complex robotic systems.
The activities of the project follow two main scientific themes:
on the one hand,
the modeling and control of walking systems;
and on the other hand,
the study of methods and tools for real-time control.
The interest in walking robots lies in their natural capability for operating
on varied grounds, enabling them to move in environments
very constrained in dimension, or ill-structured.
An application of our work outside of robotics lies
in the assistance to movement recovery for paralytics.
Real-time control of complex robot systems is an instance of the more general
topic of modelling and programming systems mixing aspects of continuous
(sampled) and discrete control.
They can be found in robotics, but also in avionics, automobile,
and production systems.
Research themes
Study of control for walikng systems,
based on the active stabilization of quasi-periodic passive
solutions in conjunction with redundant task and
sensor-based control technologies (force,
proximity and vision).
analysis, modelling and control of non-smooth dynamical systems,
particularly complementarity dynamical systems.
Development of design/programming/verification tools
for a reactive real-time control system,
based on the synchronous approach.
International and industrial relations
Collaboration in joint projects and contracts with
laboratories in biomechanics,
automatic control,
mechanics
and computer science.
Ongoing participation in the CNRS GRD-PRC ``Legged robots’’,
to the ROBEA and EAST-EEA programs,
to the European cooperations TELEDIMOS and CLAWAR,
and to the INRIA cooperation FISC.
.
Participation in the programme committees of Icar, Icra, Iser, Syroco, ECRTS, MSR, RTS ;
Presentation of the biped robot in the French pavillion at the
Universal Exposition of year 2000 in Hannover.
