| ID offer | ECND39 |
| University | Ecole Centrale de Nantes |
| Mobility | phd |
| EU Subject SubCode | 06.1 |
| Title of the course/domaine/keyword | Online whole body human motion conversion for humanoid robot control using balance constraints |
| Explanatory text | Current approaches for human imitation by humanoid systems are mainly offline and do not allow a direct real-time motion conversion. The main problem is to deal with the balance constraint while moving at the same velocity as the human model. In our research group, an online kinematic approach was developed and validated experimentally , showing good results for slow movements as the dynamics effects for high accelerations were not modeled and were very different for the natural and the artificial systems. Other offline studies allow dynamics conversion of the motion for point to point motion or cyclic walking motion. This thesis topic will focus on enlarging the models to online dynamics motion conversion in order to increase the admissible motion velocity for real-time imitation. The experimental protocol will use the available 8-camera optical motion capture to acquire the human motion, and the Aldebaran humanoid robots NAO (small size) then ROMEO (mid-size). Once the experimental environment is set, the candidate will focus on an evaluation criterion of the motion imitation and propose a learning process to improve the characterization of the motion patterns for the studied human subjects. |
| Homepage | http://www.irccyn.ec-nantes.fr/ |
| Max number of scholarships | 1 |
| Language | EN |
| Maximum Duration (months) | 36 |
| ECTS | |
| Earliest start date | July 1, 2013 |
| Latest end date | July 14, 2016 |
| Contact Name | Christine Chevallereau, Sophie Sakka |
| Contact email | Christine.Chevallereau@irccyn.ec-nantes.fr, Sophie.Sakka@irccyn.ec-nantes.fr |
| Possibility to learn the national language | YES |
| Language Requirements | |
| Academic Requirements | masters |
| Additional information | |