Arnaud Aumont

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Designing robots that interact naturally with people requires the integration of technologies and algorithms for communication modalities such as gestures, movement, facial expressions and user interfaces. To understand interdependence among these modalities, evaluating the integrated design in feasibility studies provides insights about key considerations(More)
Guiding a mobile robot by the hand would make a simple and natural interface. This requires the ability to sense forces applied on the robot from direct physical contacts, and to translate these forces into motion commands. This paper presents a joint-space impedance control approach that does so by perceiving forces applied on compliant arms, making the(More)
Johnny-0, shown in Figure 1, is our new humanoid robot which integrates an expressive face on an orientable head, two arms with 4 degrees of freedom (DOF) each and grippers, mounted on an omnidirectional, non-holonomic mobile platform. Our underlying goal with Johnny-0 is to design a platform capable of natural reciprocal interaction (motion, language,(More)
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