Geometry of Robot Motion - ICRA 2020

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The purpose of the presentation is to show how from the 1990s robotics has integrated techniques from geometrical control (optimal control, differential flatness) to automate the computation of the movements of mobile robots subjected to the nonholonomic constraint of rolling without slipping. We will present both the problems solved and the questions still open today. In a second step, we take a pluridisciplinary perspective combining robotics, neurophysiology and biomechanics to better understand the geometry of bipedal locomotion.


Jean-Paul Laumond is emeritus researcher at CNRS. Previously with LAAS-CNRS (team Gepetto) in Toulouse, he joined in 2019 the research lab DIENS affiliated to ENS, CNRS and INRIA (team Willow) in Paris. His research is devoted to robot motion planning and control. From 2014 to 2018 he managed the project Actanthrope (ERC-ADG 340050) dedicated to the study of the computational foundations of anthropomorphic action. He is the 2016 recipient of the IEEE Inaba Technical Award for Innovation Leading to Production. He is a member of the French Academy of Technologies and a member of the French Academy of Sciences.

The purpose of the presentation is to show how from the 1990s robotics has integrated techniques from geometrical control (optimal control, differential flatness) to automate the computation of the movements of mobile robots subjected to the...

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