Research

This project pursues three complementary research lines on hardware, robot control and study of human motor control.

These are:

  • Hardware: Development of Foot Haptic Platform for Bipedal Teleoperation
  • Robot Control: Development of Controller for Shared-Control of the bipedal platform
  • Human Motor Control: Study of coordinated and uncoordinated control of the two feet

Publications:

A complete list of related publications of the laboratories are available at the LASA publication page and LSRO publication page.

Videos:

  • Hardware: Development of Foot Haptic Platform for Bipedal Teleoperation

Paragraph Jacob

  • Robot Control: Development of Controller for Shared-Control of the bipedal platform

Paragraph Walid

  • Human Motor Control: Study of coordinated and uncoordinated control of the two feet

Paragraph Anaïs

Example of Foot Position Control for Reaching one fixed target. In this illustration, when a target appears, the operator has a delay in reaction after which he/she modifies the position (from the previous aim), he/she reaches the target with an overshoot mistakes. Then, the operator carefully tries to correct the error before timeout, ending up on a static error. The relevant features are extracted for analysis: reaction time, overshoot error, mean velocity, etc.