JNRH'2024 : Journées Nationales de la Robotique Humanoïde

Accueil + Café

9:00 - 9:30 (30min)

Accueil + Café

Commande et Modélisation

9:30 - 11:05 (1h35)

Commande et Modélisation

› Recent progress and prospects on differentiable simulation for Robotics - Justin Carpentier, INRIA Paris 09:30-10:05 (35min)

› Improved Computational Efficiency of QP-based Robot Control with Maintained Motion Accuracy - Sélim Chefchaouni Moussaoui, Centre Inria de l'Université Grenoble-Alpes 10:05-10:25 (20min)

› Optimal Control of Walkers with Parallel Actuation - Ludovic DE MATTEIS, Équipe Mouvement des Systèmes Anthropomorphes (GEPETTO) LAAS-CNRS, Models of visual object recognition and scene understanding 10:25-10:45 (20min)

› A comparative analysis of dynamic models for legged locomotion - Ewen Dantec, Equipe Willow 10:45-11:05 (20min)

Pause

11:05 - 11:20 (15min)

Pause

Posters

11:20 - 13:00 (1h40)

Posters

› Towards answering the question: are strategic decision-making and joint attention related when playing Hex-game with humans and robots ? - Kosei Shibata, Kyutech 11:20-13:00 (1h40)

› Context-based control with full wrist mobility surpasses current transradial myoelectric prostheses during reaching in virtual reality - Lucas Bardisbanian, INCIA UMR 5287, CNRS et Université de Bordeaux 11:20-13:00 (1h40)

› Design and Control of an Exosuit with SEMGs - Pierre Garnault, Nantes Université, Ecole Centrale Nantes, LS2N, UMR 6004, 44000 Nantes, France 11:20-13:00 (1h40)

› New Method and Experimental Results for Leg Exoskeleton Odometry using a Limited FOV Depth Sensor - Fabio Elnecave Xavier, Centre de Robotique, Wandercraft 11:20-13:00 (1h40)

› Dexterous Manipulation with Multi-Fingered Hands - Tactile Perception - Theo AYRAL, CEA-Leti LSSC 11:20-13:00 (1h40)

› RL-based MPC cost design for industrial tasks with torque-controlled robots - Côme Perrot, Équipe Mouvement des Systèmes Anthropomorphes 11:20-13:00 (1h40)

› Tactile Sensor-Based Detection of Partial Foothold for Balance Control in Humanoid Robots - Tako Taro, Taro Tako 11:20-13:00 (1h40)

› Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning - Rohan P. Singh, Joint Robotics Laboratory, Université de Tsukuba = University of Tsukuba 11:20-13:00 (1h40)

› Towards the development of a smart insole for 6D external wrench estimation - Kahina Chalabi, LAAS-CNRS 11:20-13:00 (1h40)

Déjeuner

13:00 - 14:00 (1h)

Déjeuner

Katja Mombaur: Endowing humanoid robots with motion intelligence: the roles of bio-inspiration, optimization and learning

14:00 - 15:00 (1h)

Katja Mombaur: Endowing humanoid robots with motion intelligence: the roles of bio-inspiration, optimization and learning

Katja Mombaur

Pause café

15:00 - 15:30 (30min)

Pause café

Conception

15:30 - 16:45 (1h15)

Conception

› TIRREX - fREnch New humanOId Robot (RENOIR) - 2024 - Olivier Stasse, Laboratoire d'Analyse et d'Architecture des systèmes [Toulouse] 15:30-16:05 (35min)

› Presenting The Battobot, A Dynamical Bipedal Robot - Virgile Batto, Équipe Mouvement des Systèmes Anthropomorphes 16:05-16:25 (20min)

› Design of humanoid robots driven by direct-drive linear motors - Philippe LUCIDARME, Laboratoire Angevin de Recherche en Ingénierie des Systèmes Automatisés 16:25-16:45 (20min)

	Mer. 20	Jeu. 21
09:00 10:00 11:00 12:00 13:00 14:00 15:00 16:00 17:00 18:00 19:00 20:00 21:00 22:00	Accueil + Café 9:00 - 9:20 (20min) Accueil + Café Introduction 9:20 - 9:30 (10min) Introduction Commande et Apprentissage 9:30 - 10:45 (1h15) Commande et Apprentissage › Whole-Body Loco-Manipulation of Multi-Legged Systems - Enrico Mingo Hoffman, Inria, Istituto Italiano di Tecnologia 09:30-10:05 (35min) › Introducing FRASA: An End-to-End Reinforcement Learning Agent for Fall Recovery and Stand Up of Humanoid Robots - Marc Duclusaud, LaBRI 10:05-10:25 (20min) › Introducing FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting - Clément Gaspard, LaBRI 10:25-10:45 (20min) Robotique et limites planétaires 10:45 - 11:30 (45min) Robotique et limites planétaires Adrien Escande Pause 11:30 - 11:45 (15min) Pause Modélisation et Mesure de l'Humain 11:45 - 13:00 (1h15) Modélisation et Mesure de l'Humain › Real-time estimation of the human neuro-musculoskeletal state - Bailly François, INRIA centre d'Université Côte d'Azur 11:45-12:20 (35min) › The IHLVS test bench: Towards a New Tool for Learning Sports Movements - antoine Eon, Institut P' CNRS - Université de Poitiers - ENSMA UPR 3346 SP2MI 12:20-12:40 (20min) › Comparison between the Pinocchio and OpenSim software libraries for human motion analysis - Gabriel Bréhault, Inria Grenoble - Rhône-Alpes - LJK, TRINOMA 12:40-13:00 (20min) Déjeuner 13:00 - 14:00 (1h) Déjeuner Daniele Pucci: Towards a shared embodied intelligence of humanoid robotics: the human-aware ergoCub 14:00 - 15:00 (1h) Daniele Pucci: Towards a shared embodied intelligence of humanoid robotics: the human-aware ergoCub Daniele Pucci Pause café 15:00 - 15:30 (30min) Pause café Interaction 15:30 - 16:45 (1h15) Interaction › A novel movement-based prosthesis control tested on valid and arm-amputated participants using first-person teleoperation of humanoid robot Reachy - Aymar Goullet de rugy, INCIA UMR 5287, CNRS et Université de Bordeaux 15:30-16:05 (35min) › Enhancing Exoskeleton Transparency with Motion Prediction: An Experimental Study - Alexandre Oliveira Souza, Laboratoire Lorrain de Recherche en Informatique et ses Applications 16:05-16:25 (20min) › Telepresence in a Humanoid for Exploration of Embodiment and Body Schema Plasticity - PETER FORD DOMINEY, INSERM U1093 CAPS 16:25-16:45 (20min) Visite guidée de Nancy 18:00 - 19:30 (1h30) Visite guidée de Nancy Visite guidée de Nancy (à pieds) Dîner au Grand Café Foy 19:30 - 22:30 (3h) Dîner au Grand Café Foy	Accueil + Café 9:00 - 9:30 (30min) Accueil + Café Commande et Modélisation 9:30 - 11:05 (1h35) Commande et Modélisation › Recent progress and prospects on differentiable simulation for Robotics - Justin Carpentier, INRIA Paris 09:30-10:05 (35min) › Improved Computational Efficiency of QP-based Robot Control with Maintained Motion Accuracy - Sélim Chefchaouni Moussaoui, Centre Inria de l'Université Grenoble-Alpes 10:05-10:25 (20min) › Optimal Control of Walkers with Parallel Actuation - Ludovic DE MATTEIS, Équipe Mouvement des Systèmes Anthropomorphes (GEPETTO) LAAS-CNRS, Models of visual object recognition and scene understanding 10:25-10:45 (20min) › A comparative analysis of dynamic models for legged locomotion - Ewen Dantec, Equipe Willow 10:45-11:05 (20min) Pause 11:05 - 11:20 (15min) Pause Posters 11:20 - 13:00 (1h40) Posters › Towards answering the question: are strategic decision-making and joint attention related when playing Hex-game with humans and robots ? - Kosei Shibata, Kyutech 11:20-13:00 (1h40) › Context-based control with full wrist mobility surpasses current transradial myoelectric prostheses during reaching in virtual reality - Lucas Bardisbanian, INCIA UMR 5287, CNRS et Université de Bordeaux 11:20-13:00 (1h40) › Design and Control of an Exosuit with SEMGs - Pierre Garnault, Nantes Université, Ecole Centrale Nantes, LS2N, UMR 6004, 44000 Nantes, France 11:20-13:00 (1h40) › New Method and Experimental Results for Leg Exoskeleton Odometry using a Limited FOV Depth Sensor - Fabio Elnecave Xavier, Centre de Robotique, Wandercraft 11:20-13:00 (1h40) › Dexterous Manipulation with Multi-Fingered Hands - Tactile Perception - Theo AYRAL, CEA-Leti LSSC 11:20-13:00 (1h40) › RL-based MPC cost design for industrial tasks with torque-controlled robots - Côme Perrot, Équipe Mouvement des Systèmes Anthropomorphes 11:20-13:00 (1h40) › Tactile Sensor-Based Detection of Partial Foothold for Balance Control in Humanoid Robots - Tako Taro, Taro Tako 11:20-13:00 (1h40) › Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning - Rohan P. Singh, Joint Robotics Laboratory, Université de Tsukuba = University of Tsukuba 11:20-13:00 (1h40) › Towards the development of a smart insole for 6D external wrench estimation - Kahina Chalabi, LAAS-CNRS 11:20-13:00 (1h40) Déjeuner 13:00 - 14:00 (1h) Déjeuner Katja Mombaur: Endowing humanoid robots with motion intelligence: the roles of bio-inspiration, optimization and learning 14:00 - 15:00 (1h) Katja Mombaur: Endowing humanoid robots with motion intelligence: the roles of bio-inspiration, optimization and learning Katja Mombaur Pause café 15:00 - 15:30 (30min) Pause café Conception 15:30 - 16:45 (1h15) Conception › TIRREX - fREnch New humanOId Robot (RENOIR) - 2024 - Olivier Stasse, Laboratoire d'Analyse et d'Architecture des systèmes [Toulouse] 15:30-16:05 (35min) › Presenting The Battobot, A Dynamical Bipedal Robot - Virgile Batto, Équipe Mouvement des Systèmes Anthropomorphes 16:05-16:25 (20min) › Design of humanoid robots driven by direct-drive linear motors - Philippe LUCIDARME, Laboratoire Angevin de Recherche en Ingénierie des Systèmes Automatisés 16:25-16:45 (20min)