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Papers by Vincent Dupourque

The invention relates to a mobile robot comprising a movable base (12) surmounted by a trunk (14)... more The invention relates to a mobile robot comprising a movable base (12) surmounted by a trunk (14), said movable base (12) comprising at least three wheels (16, 16 ') disposed at the vertices of a polygon ground contact, characterized in that the robot (10) comprises at least one graspable support system (20, 22) and an anti-tipping system configured to prevent the robot tipping (10) when a person is supported on the grippable support system (20, 22).

​—This document describes work done by our team during the last 12 months. We went deeper into mo... more ​—This document describes work done by our team during the last 12 months. We went deeper into motion anticipation and started intentions anticipation, based on linguistic intelligence. We provide the results, and explain the next step which will include a campaign of data acquisition in several nursing homes. We also update the team description, with 2 newcomers, including an academic partner.

EU Horizon 2020, Framework Programme for Research and Innovation, 2014-2020. Grant agreement 6438... more EU Horizon 2020, Framework Programme for Research and Innovation, 2014-2020. Grant agreement 643808, Project MARIO ‘Managing active and healthy ageing with use of caring service robots’

IRBM, 2012

This article appeared in a journal published by Elsevier. The attached copy is furnished to the a... more This article appeared in a journal published by Elsevier. The attached copy is furnished to the author for internal non-commercial research and education use, including for instruction at the authors institution and sharing with colleagues. Other uses, including reproduction and distribution, or selling or licensing copies, or posting to personal, institutional or third party websites are prohibited. In most cases authors are permitted to post their version of the article (e.g. in Word or Tex form) to their personal website or institutional repository. Authors requiring further information regarding Elsevier's archiving and manuscript policies are encouraged to visit: http://www.elsevier.com/copyright

La technologie robotique est de plus en plus envisagee comme une aide technique pour le maintien ... more La technologie robotique est de plus en plus envisagee comme une aide technique pour le maintien a domicile des personnes âgees presentant des troubles cognitifs et/ou souffrant de solitude. Cet article rapporte les resultats de deux etudes sur les attitudes et les perceptions des personnes âgees sur les fonctionnalites et l'apparence d'un robot d'assistance. Les resultats montrent qu'il existe une certaine reticence des participants vis-a-vis d'un tel dispositif. Cependant, son utilite est reconnue. L'analyse des resultats ont permis de formuler les recommandations pour la conception d'un robot d'assistance pour les personnes âgees.

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), 2013

This document presents the research project ARMEN (Assistive Robotics to Maintain Elderly People ... more This document presents the research project ARMEN (Assistive Robotics to Maintain Elderly People in a Natural environment), aimed at the development of a user friendly robot with advanced functions for assistance to elderly or disabled persons at home. Focus is given to the robot SAM (Smart Autonomous Majordomo) and its new features of navigation, manipulation, object recognition, and knowledge representation developed for the intuitive supervision of the robot. The results of the technical evaluations show the value and potential of these functions for practical applications. The paper also documents the details of the clinical evaluations carried out with elderly and disabled persons in a therapeutic setting to validate the project.

Les problemes souleves par la robotique dite de 3eme generation peuvent etre qualifies de complex... more Les problemes souleves par la robotique dite de 3eme generation peuvent etre qualifies de complexes: au sein d'un meme systeme doivent cohabiter des modules logiciels et materiels dont les interactions permettent le bon fonctionnement de l'ensemble. Les developpements technologiques poussent les concepteurs de tels systemes temps-reel vers des solutions distribuees, qui favorisent la modularite mais necessitent la mise en place de communications efficaces entre ces differents modules. Notre contribution est de proposer des outils d'aide a la conception, essentiellement orientes vers le developpement de logiciels et d'architectures informatiques complexes pour la robotique. En premiere partie, nous etablissons un etat de l'art des outils disponibles pour le concepteur, que ce soit au niveau materiel, algorithmique ou methodologique. Apres avoir propose des criteres permettant d'effectuer les choix de l'architecture materielle, nous introduisons ensuite une...

ICRA 2007 Workshop …, 2007

This paper introduces the robuBOX®, being developed by ROBOSOFT and based on Microsoft® Robotics ... more This paper introduces the robuBOX®, being developed by ROBOSOFT and based on Microsoft® Robotics Studio. The ROBOSOFT robuBOX® is a software for the design of generic robotics controllers implementing advanced robotics functions and behaviors. Software for robots is very different than software for computers: a robot is more than a computer with wheels and motors. This statement led ROBOSOFT to define new objects, called robuter®. The robuBOX® provides integrators and manufacturers with an off-the-shelf set of software and hardware modules embedding 80% of the complexity of intelligent service robots. It is based on reference designs for the robots and control architectures that allows to plug, configure and play a robuBOX® on a machine to make it a professional service robot. But it also provides all the required openness for researchers to design a specific control architecture. The robuBOX® has already been implemented in many service robotics applications that are shortly described in this paper. The benefits of such software is then evaluated with respect to existing solutions, in the context of an industrial company, European leader in robotics for professional services.

Assistive robots for people with loss of autonomy represent a market with high potential for grow... more Assistive robots for people with loss of autonomy represent a market with high potential for growth in the coming years. These robots aim firstly to meet the needs of dependent elderly people and secondly to "reinforce" the homecare service ecosystem in order to improve its effectiveness. In addition, retirement homes and care facilities are not always affordable contributing to increase the levels of stress and burden in informal caregivers. Under these circumstances, robot assistance for homecare could represent a pertinent solution for individuals who have some functional limitations but who are not dependent on medical care.

CE VEHICULE COMPREND UNE RAMPE D'ARROSAGE 6 RELIEE PAR UNE LIAISON 32 A TROIS DEGRES DE LIBER... more CE VEHICULE COMPREND UNE RAMPE D'ARROSAGE 6 RELIEE PAR UNE LIAISON 32 A TROIS DEGRES DE LIBERTE A UN BRAS EXTENSIBLE 4 MONTE PIVOTANT SUR LE CHASSIS 2 DU VEHICULE AUTOUR D'UN AXE HORIZONTAL ET LONGITUDINAL 8. PLUSIEURS MOYENS D'ACTIONNEMENT 11-12, 21, 28 PERMETTENT DE DEPLOYER ET RETRACTER LE BRAS 4, DE MODIFIER SA POSITION ET DE MODIFIER L'ORIENTATION DE LA RAMPE 6. EN REPONSE AUX SIGNAUX DELIVRES PAR PLUSIEURS DETECTEURS DE POSITION ASSOCIES AU BRAS 4 ET A LA RAMPE 6 ET EN REPONSE AUX SIGNAUX DELIVRES PAR AU MOINS UN DETECTEUR DE PROXIMITE 64 SUPPORTE PAR LE BRAS 4, ET REPRESENTATIFS DE LA DISTANCE ENTRE LE DETECTEUR 64 ET UNE SURFACE A NETTOYER, UNE UNITE CENTRALE DE TRAITEMENT FOURNIT DES SIGNAUX DE COMMANDE APTES A ACTIVER LESDITS MOYENS D'ACTIONNEMENT DE MANIERE A MAINTENIR LA RAMPE 6 A UNE DISTANCE CONSTANTE PREDETERMINEE DE LA SURFACE A NETTOYER AU COURS DE L'AVANCE DU VEHICULE.

By delivering its second fully-operational Cybernetic Transport System (CTS) to Vulcania, a Frenc... more By delivering its second fully-operational Cybernetic Transport System (CTS) to Vulcania, a French theme park, ROBOSOFT demonstrates that long term R&D efforts are leading to real applications: the existing robotic technologies allow implemention of reliable and efficient CTSs, which can now be certified and used in sites open to the public such as theme parks, exhibition centers, campuses, airports, hospitals, etc.

Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986

This paper aims at describing how the abstraction mechanisms developed around strong typed langua... more This paper aims at describing how the abstraction mechanisms developed around strong typed languages like ADA could be applied successfully to the programming of complex tasks in robotics. Once we defined the abstraction and thinking mechanisms it involves, we try to apply them to a concrete example which is the programming of an application in which a 6 degrees of

Proceedings. 1984 IEEE International Conference on Robotics and Automation, 1984

ABSTRACT First Page of the Article

This paper deals with safety considerations to be taken into account when designing an operationa... more This paper deals with safety considerations to be taken into account when designing an operational Cybercars application. Cybercars is the name given to fully automated vehicles for transportation of people, it is a part of a more general application called CTS for Cybernetic Transportation System. The topic of this paper is the approach we used to ensure the safety of passengers using Cybercars from the vehicle and infrastructure design point of view. To illustrate this approach we explain how we did it for our biggest Cybercar called robuRide, a vehicle able to transport autonomously 30 people at a 6.7m/s velocity.

The invention relates to a mobile robot comprising a movable base (12) surmounted by a trunk (14)... more The invention relates to a mobile robot comprising a movable base (12) surmounted by a trunk (14), said movable base (12) comprising at least three wheels (16, 16 ') disposed at the vertices of a polygon ground contact, characterized in that the robot (10) comprises at least one graspable support system (20, 22) and an anti-tipping system configured to prevent the robot tipping (10) when a person is supported on the grippable support system (20, 22).

​—This document describes work done by our team during the last 12 months. We went deeper into mo... more ​—This document describes work done by our team during the last 12 months. We went deeper into motion anticipation and started intentions anticipation, based on linguistic intelligence. We provide the results, and explain the next step which will include a campaign of data acquisition in several nursing homes. We also update the team description, with 2 newcomers, including an academic partner.

EU Horizon 2020, Framework Programme for Research and Innovation, 2014-2020. Grant agreement 6438... more EU Horizon 2020, Framework Programme for Research and Innovation, 2014-2020. Grant agreement 643808, Project MARIO ‘Managing active and healthy ageing with use of caring service robots’

IRBM, 2012

This article appeared in a journal published by Elsevier. The attached copy is furnished to the a... more This article appeared in a journal published by Elsevier. The attached copy is furnished to the author for internal non-commercial research and education use, including for instruction at the authors institution and sharing with colleagues. Other uses, including reproduction and distribution, or selling or licensing copies, or posting to personal, institutional or third party websites are prohibited. In most cases authors are permitted to post their version of the article (e.g. in Word or Tex form) to their personal website or institutional repository. Authors requiring further information regarding Elsevier's archiving and manuscript policies are encouraged to visit: http://www.elsevier.com/copyright

La technologie robotique est de plus en plus envisagee comme une aide technique pour le maintien ... more La technologie robotique est de plus en plus envisagee comme une aide technique pour le maintien a domicile des personnes âgees presentant des troubles cognitifs et/ou souffrant de solitude. Cet article rapporte les resultats de deux etudes sur les attitudes et les perceptions des personnes âgees sur les fonctionnalites et l'apparence d'un robot d'assistance. Les resultats montrent qu'il existe une certaine reticence des participants vis-a-vis d'un tel dispositif. Cependant, son utilite est reconnue. L'analyse des resultats ont permis de formuler les recommandations pour la conception d'un robot d'assistance pour les personnes âgees.

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), 2013

This document presents the research project ARMEN (Assistive Robotics to Maintain Elderly People ... more This document presents the research project ARMEN (Assistive Robotics to Maintain Elderly People in a Natural environment), aimed at the development of a user friendly robot with advanced functions for assistance to elderly or disabled persons at home. Focus is given to the robot SAM (Smart Autonomous Majordomo) and its new features of navigation, manipulation, object recognition, and knowledge representation developed for the intuitive supervision of the robot. The results of the technical evaluations show the value and potential of these functions for practical applications. The paper also documents the details of the clinical evaluations carried out with elderly and disabled persons in a therapeutic setting to validate the project.

Les problemes souleves par la robotique dite de 3eme generation peuvent etre qualifies de complex... more Les problemes souleves par la robotique dite de 3eme generation peuvent etre qualifies de complexes: au sein d'un meme systeme doivent cohabiter des modules logiciels et materiels dont les interactions permettent le bon fonctionnement de l'ensemble. Les developpements technologiques poussent les concepteurs de tels systemes temps-reel vers des solutions distribuees, qui favorisent la modularite mais necessitent la mise en place de communications efficaces entre ces differents modules. Notre contribution est de proposer des outils d'aide a la conception, essentiellement orientes vers le developpement de logiciels et d'architectures informatiques complexes pour la robotique. En premiere partie, nous etablissons un etat de l'art des outils disponibles pour le concepteur, que ce soit au niveau materiel, algorithmique ou methodologique. Apres avoir propose des criteres permettant d'effectuer les choix de l'architecture materielle, nous introduisons ensuite une...

ICRA 2007 Workshop …, 2007

This paper introduces the robuBOX®, being developed by ROBOSOFT and based on Microsoft® Robotics ... more This paper introduces the robuBOX®, being developed by ROBOSOFT and based on Microsoft® Robotics Studio. The ROBOSOFT robuBOX® is a software for the design of generic robotics controllers implementing advanced robotics functions and behaviors. Software for robots is very different than software for computers: a robot is more than a computer with wheels and motors. This statement led ROBOSOFT to define new objects, called robuter®. The robuBOX® provides integrators and manufacturers with an off-the-shelf set of software and hardware modules embedding 80% of the complexity of intelligent service robots. It is based on reference designs for the robots and control architectures that allows to plug, configure and play a robuBOX® on a machine to make it a professional service robot. But it also provides all the required openness for researchers to design a specific control architecture. The robuBOX® has already been implemented in many service robotics applications that are shortly described in this paper. The benefits of such software is then evaluated with respect to existing solutions, in the context of an industrial company, European leader in robotics for professional services.

Assistive robots for people with loss of autonomy represent a market with high potential for grow... more Assistive robots for people with loss of autonomy represent a market with high potential for growth in the coming years. These robots aim firstly to meet the needs of dependent elderly people and secondly to "reinforce" the homecare service ecosystem in order to improve its effectiveness. In addition, retirement homes and care facilities are not always affordable contributing to increase the levels of stress and burden in informal caregivers. Under these circumstances, robot assistance for homecare could represent a pertinent solution for individuals who have some functional limitations but who are not dependent on medical care.

CE VEHICULE COMPREND UNE RAMPE D'ARROSAGE 6 RELIEE PAR UNE LIAISON 32 A TROIS DEGRES DE LIBER... more CE VEHICULE COMPREND UNE RAMPE D'ARROSAGE 6 RELIEE PAR UNE LIAISON 32 A TROIS DEGRES DE LIBERTE A UN BRAS EXTENSIBLE 4 MONTE PIVOTANT SUR LE CHASSIS 2 DU VEHICULE AUTOUR D'UN AXE HORIZONTAL ET LONGITUDINAL 8. PLUSIEURS MOYENS D'ACTIONNEMENT 11-12, 21, 28 PERMETTENT DE DEPLOYER ET RETRACTER LE BRAS 4, DE MODIFIER SA POSITION ET DE MODIFIER L'ORIENTATION DE LA RAMPE 6. EN REPONSE AUX SIGNAUX DELIVRES PAR PLUSIEURS DETECTEURS DE POSITION ASSOCIES AU BRAS 4 ET A LA RAMPE 6 ET EN REPONSE AUX SIGNAUX DELIVRES PAR AU MOINS UN DETECTEUR DE PROXIMITE 64 SUPPORTE PAR LE BRAS 4, ET REPRESENTATIFS DE LA DISTANCE ENTRE LE DETECTEUR 64 ET UNE SURFACE A NETTOYER, UNE UNITE CENTRALE DE TRAITEMENT FOURNIT DES SIGNAUX DE COMMANDE APTES A ACTIVER LESDITS MOYENS D'ACTIONNEMENT DE MANIERE A MAINTENIR LA RAMPE 6 A UNE DISTANCE CONSTANTE PREDETERMINEE DE LA SURFACE A NETTOYER AU COURS DE L'AVANCE DU VEHICULE.

By delivering its second fully-operational Cybernetic Transport System (CTS) to Vulcania, a Frenc... more By delivering its second fully-operational Cybernetic Transport System (CTS) to Vulcania, a French theme park, ROBOSOFT demonstrates that long term R&D efforts are leading to real applications: the existing robotic technologies allow implemention of reliable and efficient CTSs, which can now be certified and used in sites open to the public such as theme parks, exhibition centers, campuses, airports, hospitals, etc.

Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986

This paper aims at describing how the abstraction mechanisms developed around strong typed langua... more This paper aims at describing how the abstraction mechanisms developed around strong typed languages like ADA could be applied successfully to the programming of complex tasks in robotics. Once we defined the abstraction and thinking mechanisms it involves, we try to apply them to a concrete example which is the programming of an application in which a 6 degrees of

Proceedings. 1984 IEEE International Conference on Robotics and Automation, 1984

ABSTRACT First Page of the Article

This paper deals with safety considerations to be taken into account when designing an operationa... more This paper deals with safety considerations to be taken into account when designing an operational Cybercars application. Cybercars is the name given to fully automated vehicles for transportation of people, it is a part of a more general application called CTS for Cybernetic Transportation System. The topic of this paper is the approach we used to ensure the safety of passengers using Cybercars from the vehicle and infrastructure design point of view. To illustrate this approach we explain how we did it for our biggest Cybercar called robuRide, a vehicle able to transport autonomously 30 people at a 6.7m/s velocity.