L’objectif du projet ROMEO est de développer un robot assistant personnel de seconde génération de grande taille (environ 1,40m) capable de se déplacer correctement dans un local réel (et non dans un local dédié comme en laboratoire), d’interagir avec son environnement et de communiquer avec des humains. Le projet fédère un groupe d’industriels et de laboratoires qui à constitué Cap Robotique, une communauté de domaine du pôle de compétitivité Cap Digital, pour organiser et structurer la recherche robotique en France.

Au-delà de la réalisation technique, le projet voulait démontrer l’excellence de la technologie et de la recherche françaises en robotique. La communication des résultats est donc une composante très importante de ce projet.

La communication doit se faire autant au niveau scientifique, par des publications dans des revues et des conférences, qu’au niveau du grand public. En effet, les répercussions sociétales des robots domestiques risquent d’être importantes. Le grand public doit être informé de ce que la science et l’industrie lui préparent.

Ce deuxième rapport sur la dissémination est publié après 25 mois de projet. Une récapitulation définitive est prévue à la fin du projet à 36 mois.



SOFTBANK ROBOTICS

[George2013] Humanoid Robot Indoor Navigation Based on 2D Bar Codes: Application to the NAO Robot”, George, L. and Mazel, A., proceedings of IEEE-RAS International Conference on Humanoid Robots, 2013.

[Wirbel2013]Humanoid robot navigation: from a visual SLAM to a visual compass, E.Wirbel & al, International Conference on Networking, Sensing & Control, 2013.

CEA LIST

[LeBorgne2010-1] H. Le Borgne and N. Honnorat. Fast shared boosting: Application to large-scale visual concept detection. In Content-Based Multimedia Indexing (CBMI), 2010 International Workshop on, pages 1–6, june 2010.

[LeBorgne2010-2]H. Le Borgne and N. Honnorat. Fast shared boosting for large-scale concept detection. Multimedia Tools and Applications, pages 1–14, 2010.

[LeBorgne2011]H. Le Borgne and P. Munoz Fuentes. Nonparametric estimation of fisher vectors to aggregate image descriptors. In Proceedings of the 13th international conference on Advanced concepts for intelligent vision systems, ACIVS’11, pages 22–33, Berlin, Heidelberg, 2011. Springer-Verlag.

[Shabou2012] Shabou A. and Le Borgne H. Locality-constrained and spatially regularized coding for scene categorization. In Computer Vision and Pattern Recognition (CVPR), 2012 IEEE Conference on, june 2012.

[Znaidia2012] A. Znaidia, A. Shabou, A. Popescu, H. Le Borgne, and C. Hudelot. Multimodal feature generation framework for semantic image classi_cation. In ACM International Conference on Multimedia Retrieval (ICMR 2012), June 2012.

CNRS – LAAS

[Halgand] C. Halgand, P. Souères, S. Celebrini, Y. Trotter, « A robotics approach for interpreting the gaze-related modulation of the activity of premotor neurons during reaching », IEEE Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob), Tokyo, Japan, Septembre 2010.

[Kanoun2009-1] O. Kanoun, E. Yoshida, J.P. Laumond, « An optimization formulation for footsteps planning », IEEE-RAS International Conference on Humanoid Robots, Paris, décembre 2009.

[Kanoun2009-2] O. Kanoun, J-P. Laumond, E. Yoshida, « Planning foot placements for a humanoid robot : a problem of inverse kinematics », Accepté pour publication dans International Journal of Robotics Research, 2009.

[Kaynov2009] D. Kaynov, P. Souères, C. Balaguer, « A practical decoupled stabilizer for joint position controlled humanoid robots », IEEE/RSJ Int. Conference on intelligent Robots and Systems, St Louis MO, USA, Oct. 2009.

[Kanoun2010] O. Kanoun and J.-P. Laumond ; « Optimizing the stepping of a humanoid robot for a sequence of tasks », IEEE RAS International Conference on Humanoid Robots, Nashville, TN, USA, December 2010.

[Monbaur2010] K. Mombaur, Anh Truong, JP. Laumond, « From Human to humanoid Locomotion — an inverse optimal control approach », Autonomous Robots, (2010) 28 :369-383, DOI 10.1007/s10514-009-9170-7.

[Morisawa2009] M. Morisawa, K. Harada, S. Kajita, K. Kaneko, J. Sola, E. Yoshida, N. Mansard, K. Yokoi, J.P. Laumond « Reactive Stepping to Prevent Falling for Humanoids », IEEE-RAS International Conference on Humanoid Robots, Paris, décembre 2009.

[Saab2011-1] L. Saab, N. Mansard, F. Keith, J.Y. Fourquet, P. Souères, « Generation of Dynamic Motion for Anthro- pomorphic Systems under Prioritized Equality and Inequality Constraints », in Proc. IEEE Int. Conf. on Robotics and Automation, Shangai, China, 2011.

[Saab2011-2] L.Saab,O. Ramos, N. Mansard, P. Souères, J-Y.Fourquet, « Generic Dynamic Motion Generation withMultiple Unilateral Constraints », IEEE International Conference on Intelligent Robots and Systems, San Francisco, USA. 25-30 Septembre 2011

[Saab2012] L. Saab, O. Ramos, N. Mansard, P. Souères, and J-Y. Fourquet. Dynamic whole-body motion generation under rigid contacts and other unilateral constraints. Submitted to IEEE Transactions on Robotics, July 2012.

[Sreenivasa2009] M. Sreenivasa, P. Souères, J-P. Laumond, A. Berthoz, « Steering a humanoid robot by its head », IEEE/RSJ Int. Conference on Intelligent Robots and Systems, St Louis, MO, USA, Oct. 2009

[Sreenivasa2010] M. Sreenivasa, P. Souères, J-P. Laumond, « On using human movement invariants to generate target- driven anthropomorphic locomotion », IEEE Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob), Tokyo, Japan, Septembre 2010. (Prix du meilleur papier de la conférence).

[Taix2012] M. Taïx, M.T. Tran, P. Souères, E. Guigon, Generating Human-like Reaching Movements with a Humanoid Robot : A Computational Approach, Journal of Computational Science (2012), In press, DOI 10.1016/j.jocs.2012.08.001

[Tran2009] T.M. Tuan, P. Souères, M. Taïx, B. Girard « Eye-centered vs body-centered reaching control : a computationnal approach to the debate », IEEE Int. Conference on Robotics and Biomimetics, Guilin, China, Dec. 2009

[Tran2010] T.M. Tuan, P. Souères, M. Taïx, M. Sreenivasa, « Humanoid human-like reaching control based on movement primitives », IEEE Int. Symposium on Robot and Human Interactive Communication (RoMan), Viarreggio, Italy, Septembre 2010.

[Sreenivasa2012] M. Sreenivasa, P. Souères, J.-P. Laumond, Walking to grasp: Modeling of human movements as invariants and an application to humanoid robotics, IEEE Transactions on System, Man and Cybernetics Part A : Systems and Humans (2012), Vol. 42, No 4, pp 880-893

CNRS – LIMSI

[Brendel et al., 2010] Matyas Brendel, Riccardo Zaccarelli, and Laurence Devillers. Building a system for emotions detection from speech to control an affective avatar. in LREC, Valetta, Malta, May 2010

[Buendia] Axel Buendia, Laurence Devillers. From informative cooperative dialogues to long-term social relation with a robot, in IWSDS 2012 book: Towards a Natural Interaction with Robots, Knowbots and Smartphones, Putting Spoken Dialog Systems into Practice, édition Springer (à paraître en 2013).

[Delaborde2009] Agnès Delaborde, Marie Tahon, Claude Barras, Laurence Devillers. A Wizard-of-Oz game for collecting emotional audio data in a children-robot interaction. In Int. Workshop on Affective-aware Virtual Agents and Social Robots, ICMI-MLMI, 2009.

[Delaborde2010-1] Agnès Delaborde, Marie Tahon, Claude Barras, and Laurence Devillers. Affective links in a child-robot interaction. In LREC, Valetta, Malta, May 2010.

[Delaborde2010-2]Agnès Delaborde, Laurence Devillers. Use of Nonverbal Speech Cues in Social Interaction between Human and Robot: Emotional and Interactional markers. In ACM Multimedia, 2010.

[Delaborde2012-1] Agnès Delaborde, Laurence Devillers. Impact du Comportement Social d’un Robot sur les émotions de l’Utilisateur : une Expérience Perceptive. In proc. Des Journées d’Études sur la Parole (JEP). Grenoble, France. Juin 2012.

[Delaborde2012-2] Agnès Delaborde, Laurence Devillers. Impact of the Social Behaviours of the Robot on the User’s Emotions: Importance of the Task and the Subject’s Age. In Workshop Affects, Compagnons Artificiels et Interactions (WACAI 2012), novembre 2012, Grenoble

[Devillers2010] L. Devillers, L. Vidrascu, O. Layachi, “Automatic detection of emotion from vocal expression”, Chapter in the book: A blueprint for an affectively competent agent, Cross-fertilization between Emotion Psychology, Affective Neuroscience, and Affective Computing, Ed.: K. Scherer, T. Bänziger, E. Roach, Oxford University Press, pp. 232-244.

[Schuller2012] B. Schuller, S. Steidl, A. Batliner, F. Burkhardt, L. Devillers, C. Müller, S. Narayanan, “Paralinguistics in Speech and Language – State-of-the-Art and the Challenge”, Computer Speech and Language (CSL), Special Issue on Paralinguistics in Naturalistic Speech and Language, ELSEVIER, 39 pages, 2012. (IF: 1.353, 5-year IF: 1.489 (2010))

[Tahon2010-1] Marie Tahon and Laurence Devillers. Acoustic measures characterizing anger across corpora collected in arti_cial or natural context. In Speech Prosody, Chicago, USA, 2010

[Tahon2010-2]Marie Tahon, Agnès Delaborde, Claude Barras, and Laurence Devillers. A corpus for identification of speakers and their emotions. In LREC, Valetta, Malta, 19-21 May 2010.

[Tahon2011]Marie Tahon, Agnès Delaborde, and Laurence Devillers. Real-life emotion detection from speech in human-robot interaction: Experiments across diverse corpora with child and adult voices. In Interspeech, Firenze, Italia, August 2011.

[Tahon2012-1]Marie Tahon, Gilles Degottex, and Laurence Devillers. Usual voice quality features for emotionnal valence detection. In Speech Prosody, Shanghai, China, May 2012.

[Tahon2012-2]Marie Tahon, Agnes Delaborde, and Laurence Devillers. Corpus of children voices for mid-level social markers and affect bursts analysis. In LREC, 8th international conference on Language Resources and Evaluation, Istanbul, Turckey, May 2012.

CNRS – LPPA

[N’Guyen2011] S. N’Guyen, J. Droulez and A. Berthoz. A probabilistic model of equilibrium perception. 14th International Conference on Climbing and Walking Robots, Paris, 2011, pp 839-846.

INRIA

G. Claudio, F. Spindler, F. Chaumette. Vision-based manipulation with the humanoid robot Romeo. In IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2016, Cancun, Mexico, November 2016.

D.J. Agravante, G. Claudio, F. Spindler, F. Chaumette. Visual servoing in an optimization framework for the whole-body control of humanoid robots. IEEE Robotics and Automation Letters, (Also presented at ICRA’2017), 2(2):608-615, April 2017.

S. Raj Bista, P. Robuffo Giordano, F. Chaumette. Combining Line Segments and Points for Appearance-based Indoor Navigation by Image Based Visual Servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS’17, Vancouver, Canada, September 2017.

[Aftab2012] Z. Aftab, T. Robert, P.-B. Wieber. Ankle, hip and stepping strategies for humanoid balance recovery with a single Model Predictive Control scheme. IEEE-RAS International Conference on Humanoid Robots, nov. 2012, Osaka, Japan.

[Dimitrov2011] D. Dimitrov, A. Paolillo, P.-B. Wieber. Walking motion generation with online foot position adaptation based on l1- and linf-norm penalty formulations. IEEE International Conference on Robotics & Automation, 2011, Shanghai, China.

[Escande2010] A. Escande, N. Mansard, P-B. Wieber. « A Dedicated Quadradic Program for Fast Hierarchical-Inverse-Kinematic Resolution » IEEE Int. Conference on Robotics and Automation, Anchorage, USA, May 2010.

[Herdt2010-1] A. Herdt, H. Diedam, P.-B. Wieber, D. Dimitrov, K. Mombaur, M. Diehl. Online Walking Motion Generation with Automatic Foot Step Placement. Advanced Robotics, 2010, 24 (5-6), pp. 719-737.

[Herdt2010-2] A. Herdt, N. Perrin, P.-B. Wieber. Walking without thinking about it. IEEE-RSJ International Conference on Intelligent Robots & Systems, Oct 2010, Taipei, Taiwan.

[Herdt2012] A. Herdt, N. Perrin, P.-B. Wieber. LMPC based online generation of more efficient walking motions. IEEE-RAS International Conference on Humanoid Robots, nov. 2012, Osaka, Japan.

[Krause2012] M. Krause, J. Englsberger, P.-B. Wieber, C. Ott. Stabilization of the Capture Point Dynamics for Bipedal Walking based on Model Predictive Control. IFAC Symposium on Robot Control, Sep. 2012, Dubrovnik, Croatia.

TELECOM PARIS TECH

[Maazaoui2012-1] Mounira Maazaoui, Karim Abed-Meraim et Yves Grenier : Adaptive blind source separation with hrtfs beamforming preprocessing and varying number of sources. The Sventh IEEE Sensor Array and Multichannel Signal Processing Workshop, SAM 2012, 2012.

[Maazaoui2012-2] Mounira Maazaoui, Karim Abed-Meraim et Yves Grenier : Blind source separation for robot audition using fixed hrtf beamforming. EURASIP Journal on Advances in Signal Processing, 2012.

[Maazaoui2011-1] Mounira Maazaoui, Yves Grenier et Karim Abed-Meraim : Blind source separation for robot audition using fixed beamforming with hrtfs. 21th Annual Conference on the International Speech Communication Association, Interspeech 2011, 2011.

[Maazaoui2011-2] Mounira Maazaoui, Yves Grenier et Karim Abed-Meraim : Frequency domain blind source separation for robot audition using a parameterized sparsity criterion. 19th European Signal Processing Conference, EUSIPCO 2011, 2011.

[Maazaoui2012-3] Mounira Maazaoui, Yves Grenier et Karim Abed-Meraim : From binaural to multimicrophone blind source separation using fixed beamforming with hrtfs. The 19th International Conference on Systems, Signals and Image Processing, IWSSIP 2012, 2012.

[Maazaoui2012-4] Adaptive blind source separation for robot audition, Mounira Maazaoui, Yves Grenier et Karim Abed-Meraim (en cours de soumission)

Thèse de doctorat : Séparation de sources pour l’audition des robots, Mounira Maazaoui, thèse de doctorat, Télécom ParisTech, 2012

UVSQ – LISV

[Souissi2013], M. Souissi, V. Hugel, and P. Blazevic, « Simulation of Humanoid Robot Vertebra », Recent Advances in Robotics and Automation, 2013, pp. 289-299.

[Zorjan2013-1] M. Zorjan and V. Hugel, « Generalized humanoid leg inverse kinematics to deal with singularities », IEEE International Conference on Robotics and Automation (ICRA), 2013, pp. 4791-4796.

[Zorjan2013-2] M. Zorjan and V. Hugel, « Humanoid bending while carrying load: Influence of hip axes orientation layout on joint power « , IEEE International Conference on Advanced Robotics (ICAR), 2013, pp. 1-6.

[Cibert2012-1] C. Cibert and V. Hugel, « Bio-Inspired Compliant Spine for Humanoid Robot: A Degrees of Freedom Challenge », Proc. of the 21st IEEE International Symposium on Robot and Human Interactive Communication (2012 IEEE RO-MAN), 2012, pp. 1-5.

[Cibert2013] C. Cibert and V. Hugel, « Compliant Intervertebral Mechanism for Humanoid Backbone: Kinematic Modeling and Optimization », Mechanism and Machine Theory, 2013, vol. 66, pp. 32-55.

[Thèse-Souissi-2012] M. Souissi, Contribution à la conception d’une colonne vertébrale pour robot humanoïde. Juin 2012. Université de Versailles Saint Quentin.

[Souissi2011] M. Souissi, V. Hugel, P. Blazevic, « Influence of the number of humanoid vertebral column pitch joints in flexion movements », Proc. of the 5th International Conference on Automation, Robotics and Applications (ICARA), 2011, pp. 277-282.

[Souissi2012-1] M. Souissi, V. Hugel, P. Blazevic, « Design optimization of parallel joint mechanism for humanoid spine », Proc. of the 16th IEEE Mediterranean Electrotechnical Conference (MELECON), 2012, pp. 997-1000.

[Souissi2012-2] M. Souissi, V. Hugel, P. Blazevic, « Modeling and simulation of humanoid robot spine vertebra », Proc of the 9th International Conference on Informatics in Control, Automation and Robotics, Vol. 2, 2012, pp. 415-418.

[Urukalo2011] D. Urukalo D., P. Blazevic, « In situ non-invasive identification of thermal resistances for small DC motor ». IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2011, pp. 582-587.

[Thèse – Zorjan-2012] M. Zorjan, Contribution to the design optimization of humanoid leg kinematics. Juin 2012. Université de Versailles Saint Quentin.

[Zorjan2011-1] M. Zorjan, V. Hugel, P. Blazevic, “Comparison Between Different Humanoid Leg Hip Kinematics Trough Dynamic Simulation”, Proc. of the 15th International Conference on Industrial Systems (IS11), 2011, pp. 77-82.

[Zorjan2011-2] M. Zorjan, V. Hugel, P. Blazevic, “Influence of Hip Joint Axes Change of Orientation on Power Distribution in Humanoid Motion”, Proc. of the 2011 IEEE ICARA: The 5th International Conference on Automation, Robots and Applications, 2011, pp. 271-276.