In this letter, we present a planner for manipulating tethered tools using dual-armed robots.
The planner generates robot motion sequences to maneuver a tool and its cable while …

Robots are flexible intelligent machines designed to replace human operators in dangerous,
dirty, and dull tasks. Therefore, an apparent application of robotics is to provide assistance in …

Regardless of recent advances, humanoid robots still face significant difficulties in
performing locomotion tasks. Among the key challenges that must be addressed to achieve …

Handling and maneuvering tools across a robot workspace is a challenging task that often
requires the implementation of constrained motion planning. In the case of wired or tethered …

Robotic manipulation of tethered tools is widely seen in robotic work cells. They may cause
excess strain on the tool's cable or undesired entanglements with the robot's arms. This …

This paper describes the implementation of a canonical motion generation pipeline guided
by vision for a TALOS humanoid robot. The proposed system is using a multicontact planner …

This paper presents a study to evaluate the effects of sloshing phenomena while a
humanoid robot climbs stairs while carrying water containers. Currently humanoid robots …

This paper presents a Center of Mass (CoM) based manipulation and regrasp planner that
implements stability constraints to preserve the robot balance. The planner provides a graph …

The widely spread iCub humanoid robot has proved to be able to walk straight forward by
means of an offline pattern generator, which did not allow for online adjustments and …

Résumé Au cours de ma quatrième année d'étude au sein de l'ESIEA, j'ai réalisé un stage
en entreprise du 11 Mai au 28 Aout 2020 d'une durée de 4 mois me permettant de valider …