Journée Nationale Interaction Physique Homme-Robot

ATTENTION : Service interruption on Monday 11 July from 12:30 to 13:00
all the CCSD's websites (Sciencesconf, HAL, Episciences, AureHAL) will be inaccessible (network hardware connection).

RESUME

Le contexte industriel (usine du futur, FoF) n'a jamais été aussi favorable qu'aujourd'hui au déploiement de robots collaboratifs. Il est prévu en effet, que les PME, jusqu'à présent réticentes à l'adoption de robots, principalement à cause de leur rigidité, se tourneront vers ce marché, dès lors que la robotique saura proposer des solutions flexibles pour des contextes de production divers.

C'est le bilan d'une enquête menée récemment par Loupventures, qui estime que d'ici 2025 un robot sur trois sera de type collaboratif. L'enquête estime aussi que, tout comme pour l'essor de la robotique traditionnelle dans les années 70, l'industrie automobile sera la première à adopter ce type de solutions technologiques.

Dès que l'on fait référence à la robotique collaborative, on ne peut pas ignorer l'interaction physique.

Une des ambitions du GDR Robotique est d’inclure explicitement cette thématique dans le périmètre du Groupe de Travail GT5 Interactions Personnes / Systèmes Robotiques.

L'interaction physique est fondamentale non seulement dans le cadre industriel (robotique collaboraive), mais aussi dans les applications de robotique d'assistance, robotique de service et robotique médicale.

L'objectif de cette journée est de réunir tous les acteurs interessés par ce thème: chercheurs, industriels, enseignants et étudiants du supérieur.

PROGRAMME

09:15-09:30 Andrea Cherubini, LIRMM, Montpellier - "Ouverture de la journée"

09:30-10:10 Ganesh Gowrishankar, LIRMM, Montpellier - "A Turing test of physical interaction: from neuroscience to robot control"
Whenever two humans physically interact with each other, like during dancing, their movements are determined by complex mechanical and control interplays between the motion and forces generated by each individual. Understanding these interplays can be essential for the control of robots during physical interaction with humans, so as to ensure that the interacting human is comfortable with the interacting robot, feels safe with them and benefits physically and psychologically from them. In my talk I will summarize our behavioral studies for investigating physical interaction by humans. In these studies we discoverd some intriguing benefits of physical interaction for the motor performances of the interacting humans. This then helped us develop an assistive robot controller that provides the same benefits to humans without them consciously realizing the assistance by the robot. The simplicity of this controller shows promise for creating intuitive robot behaviors during physical interactions with humans.

10:10-10:50 Ajay Pandey, QUT, Brisbane - "Design of soft and self-powered novel tactile sensors based on organic optoelectronics platform"
Robotic and medical applications are two of the main drivers behind the demand for the conformal and robust tactile sensing technologies such as electronic skins. In robotics, it is widely accepted that assigning the sense of touch would remove uncertainties in dealing with soft and deformable objects that are hard to model in dynamic and unstructured environments. In medicine, restoring sensory feedback to patients with skin damage, amputations or peripheral neuropathy could significantly improve their overall quality of life. Smart electronic skins are an emerging technology in conferring artificial sense of touch in robotics. However, assigning the human like distributed sense of touch over a large area has been challenging to replicate in modern medical, social and industrial robots. In this talk, we will present a new class of soft tactile sensors that exploit light as a vector technology and the advanced optical mechanisms of singlet fission in conjugated organic semiconductors [1]. We will show how a soft and compact optoelectronic array can accurately measure pressure, position and surface deformation applied to an elastomeric layer.

10:50-11:10 Coffee Break

11:10-11:50 Lorenzo Natale, IIT, Genês - "Vision and touch on the iCub robot: from object recognition to human-robot collaboration"
Perception is fundamental for robots to share the environment and cooperate with humans without barriers. Recent development in deep-learning has remarkably improved the visual skills of robots. However, there are cases in which vision alone may be insufficient and the robots should rely on other sensory modalities to detect collisions (e.g. force or touch). In this talk I will describe our research on whole-body tactile sensing, visual perception and visually guided grasping. I will then show a recent experiment in which these capabilities have been integrated in a human-robot collaboration scenario.

11:50-12:30 Jean-François Thibault, SAFRAN, France - "Le développement de la robotique collaborative dans le groupe Safran"
A partir des expériences menées dans le cadre du programme Ergonomie, l’objet de cette communication est de présenter la démarche Safran de conception de systèmes cobotiques intégrant une vision interdisciplinaire tout au long des projets. Cette présentation sera illustrée d’exemples de projets « Usine du Futur » mettant en œuvre des systèmes cobotiques dans le groupe.

12:30-13:30 Lunch break

13:30-14:20 Visit of the LIRMM Robotics Lab

14:20-15:00 Antonio Franchi, LAAS, Toulouse - "Physical Interaction with Aerial Robots"
Physical interactive tasks have often been kept far from the conception and development of robotic flying systems. In recent times a few groups in the world started to perform a research which aims at elevating aerial vehicles from the condition of pure observers to the one of fully-mature robotic actors able to help humans in manipulating and operating in places that are hardly accessible with other type robots.
In this seminar I will present, from an application driven perspective, the main technical and theoretical challenges of this field. I will then present the recent results of our group at LAAS-CNRS in the design of flying machines that are the most suited for aerial physical interaction such as multi-directional thrust vehicles and illustrate the novel concept of flying companion and MAGMaS systems, where one or more aerial robots collaborate with ground robots in order to co-manipulate long objects. I will then show how the control of physical interaction can be used to achieve capabilities that are otherwise impossible to standard (contact-free) aerial vehicles, such as stable landing on inclined surfaces, and how a proper design of the aerial manipulator may greatly simplify the end-effector nonlinear control problem. I will conclude the seminar with some insights on current and future directions in this exciting domain of robotics.

15:00-15:40 Bernard Bayle, ICUBE, Strasbourg - "Physical Human Robot Interaction in robot-assisted medical and surgical therapies"
Robot assisted medical interventions have changed the relationships between the patient and the surgeon. They have introduced man-robot interactions of two different types. First, the robot involved in medical assistance generally interacts with the patient. Second, the surgeon also interacts with the robot, as only a few systems are automatic. This opens challenges in interaction management and control that will be developed and illustrated throughout this talk.

15:40-16:00 Coffee Break

16:00-16:40 Ludovic Saint-Bauzel, Sorbonne Université, Paris - "Kinesthesic decision in physical Human Robot Interaction: first results in ISIR"

16:40-17:00 Andrea Cherubini, LIRMM, Montpellier - "Cloture de la journée"

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