David Gouaillier - ORTHOPUS | LinkedIn (original) (raw)
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In 2005, I co-founded Aldebaran Robotics (now SoftBank Robotics) with Bruno Maisonnier. I…
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Publications
Design method for an anthropomorphic hand able to gesture and grasp
IEEE Robotics and Automation (ICRA), 2015 26 mai 2015
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired robotic hands. In particular, there are no numerical methods, for the thumb placement, that aim to improve the hand dexterity and grasping capabilities by keeping the hand design close to the human one. While existing models are usually the result of…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired robotic hands. In particular, there are no numerical methods, for the thumb placement, that aim to improve the hand dexterity and grasping capabilities by keeping the hand design close to the human one. While existing models are usually the result of successive parameter adjustments, the proposed method determines the fingers placements by mean of empirical tests. Moreover, a surgery test and the workspace analysis of the whole hand are used to find the best thumb position and orientation according to the hand kinematics and structure. The result is validated through simulation where it is checked that the hand looks well balanced and that it meets our constraints and needs. The presented method provides a numerical tool which allows the easy computation of finger and thumb geometries and base placements for a human-like dexterous robotic hand.
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Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels
IEEE Humanoid Robots (Humanoids), 2014 18 novembre 2014
The goal of this paper is to present a new real-time controller based on linear model predictive control for an omnidirectionnal wheeled humanoid robot. It is able to control both the mobile base of the robot and its body, while taking into account dynamical constraints. It makes it possible to have high velocity and acceleration motions by predicting the dynamic behavior of the robot in the future. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good…
The goal of this paper is to present a new real-time controller based on linear model predictive control for an omnidirectionnal wheeled humanoid robot. It is able to control both the mobile base of the robot and its body, while taking into account dynamical constraints. It makes it possible to have high velocity and acceleration motions by predicting the dynamic behavior of the robot in the future. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good performance in terms of robustness and tracking control, efficiently managing kinematic and dynamical constraints.
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IEEE Humanoid Robots (Humanoids), 2010 6 décembre 2010
This paper describes the new walk algorithm implemented on the NAO robot. NAO is a small fully actuated biped robot provided by the French company Aldebaran Robotics. Since the beginning of the company in July 2005, a major goal has been the development of robust walk for the robot. After 5 years of mecatronic design and improvements in robustness of the robot (7 prototypes) and multiple prototypes of humanoid dynamic walk algorithm, an omni-directional walk robust against small obstacles is…
This paper describes the new walk algorithm implemented on the NAO robot. NAO is a small fully actuated biped robot provided by the French company Aldebaran Robotics. Since the beginning of the company in July 2005, a major goal has been the development of robust walk for the robot. After 5 years of mecatronic design and improvements in robustness of the robot (7 prototypes) and multiple prototypes of humanoid dynamic walk algorithm, an omni-directional walk robust against small obstacles is now available for all the NAO units (more than 700) in the world.
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IEEE Robotics and Automation, 2009. ICRA 2009 12 mai 2009
This article presents the mechatronic design of the autonomous humanoid robot called NAO that is built by the French company Aldebaran-Robotics. With its height of 0.57 m and its weight about 4.5 kg, this innovative robot is lightweight and compact. It distinguishes itself from existing humanoids thanks to its pelvis kinematics design, its proprietary actuation system based on brush DC motors, its electronic, computer and distributed software architectures. This robot has been designed to be…
This article presents the mechatronic design of the autonomous humanoid robot called NAO that is built by the French company Aldebaran-Robotics. With its height of 0.57 m and its weight about 4.5 kg, this innovative robot is lightweight and compact. It distinguishes itself from existing humanoids thanks to its pelvis kinematics design, its proprietary actuation system based on brush DC motors, its electronic, computer and distributed software architectures. This robot has been designed to be affordable without sacrificing quality and performance. It is an open and easy-to-handle platform. The comprehensive and functional design is one of the reasons that helped select NAO to replace the AIBO quadrupeds in the 2008 RoboCup standard league.
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IEEE Industrial Electronics, IECON 2006 6 novembre 2006
For several years, humanoid robotic has an important place in the research area. But nowadays, humanoid robots are everywhere: movies, advertising, toy... The world seems to be ready for biped robot. In this paper, a new mechatronic platform is introduced: the Aldebaran robotics' humanoid robot. The firm is developing an entertainment robot in the same range than the AIBO robot: a companion robot. The process of mechanical prototyping, actuator designation, electronic architecture and first…
For several years, humanoid robotic has an important place in the research area. But nowadays, humanoid robots are everywhere: movies, advertising, toy... The world seems to be ready for biped robot. In this paper, a new mechatronic platform is introduced: the Aldebaran robotics' humanoid robot. The firm is developing an entertainment robot in the same range than the AIBO robot: a companion robot. The process of mechanical prototyping, actuator designation, electronic architecture and first computing design are presented in this document
Brevets
Projets
déc. 2011
- External Design of PEPPER with the french design company ESTECH,
- Geometry, kinematic and dynamic Design of the robot.
- Lead on technology choice for the locomotion actuator
- Manager of a team dedicated to manage the motion and the stabilization of the robot.
Other creators
oct. 2005
- External shape design of this famous humanoid with Erik Arlen and Thomas Knoll
- Geometry, kinematic and dynamic Design of the robot.
- Contribution of the mechatronic design. We design the first version of NAO in 15 months !
- Development of a stable walk engine and reflex (fall manager, self-collision avoidance...)
Other creators
Langues
Anglais
Capacité professionnelle complète
Allemand
Compétence professionnelle limitée
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