Joseph Salini

Learn More
This paper deals with robotic control through optimization tools, as Linear Quadratic Program (LQP). This method allows whole-body control, takes account contacts between the robot and the environment, and achieves tasks simultaneously. Each task can have a priority level, so hierarchy is possible. The method is applied on a virtual robot Icub, designed(More)
The operation of a ROV requires significant offshore dedicated manpower to handle and operate the robotic platform. In order to reduce the burden of operations, DexROV proposes to work out more cost effective and time efficient ROV operations, where manned support is in a large extent delocalized onshore (i.e. from a ROV control center), possibly at a large(More)
The capture and analysis of human motor activity in daily life situations can provide a diagnosis tool or simply allow the evaluation of a person's psychological and physiological state (cognitive and emotional). This paper proposes a method based on the use of a physical model where embedded Kinect sensors on a mobile robot are employed for the detection(More)
The analysis of certain parameters related to cognitive and to motor humans' activities in everyday life conditions can allow to detect potential behavioral troubles, make diagnoses and assess patients progress after a therapy. Within this context, personal robots can provide an autonomous movable platform for embedded sensors allowing to detect and track(More)
This paper deals with the dynamic control of humanoid robots interacting with their environment, and more specifically the behavioral synthesis of dynamic tasks. The purpose is to link several elementary activities subjected to physical constraints , both internal as torque limits and external as contacts, within the framework of posture/tasks coordination.(More)
  • 1