Julien Frémy

Learn More
—Humans use direct physical interactions to move objects and guide people, and the same should be done with robots. However, most of today's mobile robots use non-backdrivable motors for locomotion, making them potentially dangerous in case of collision. This paper presents a robot, named AZIMUT-3, equipped with differential elastic actuators that are(More)
HE most common ground locomotion method to make a mobile robot move is to use two-wheel drive with differential steering and a rear balancing caster. Controlling the two motors independently makes the robot non-holonomic in its motion. Such robots can work well indoor on flat surfaces and in environments adapted for wheelchairs. But the benefit of providing(More)
I. INTRODUCTION Robots are usually built using stiff actuators that can provide impressive motion performances. However, they struggle to control the force, they do not handle collisions graciously and are generally bad at interacting significantly with partially unknown or kinematically constrained environments. One solution is to add a force sensor in the(More)
I. INTRODUCTION AZIMUT-3 is an omnidirectional non-holonomic (or pseudo-omnidirectional [1]) robotic platform intended for safe human-robot interaction. In its wheeled configuration, shown in Fig. 1, AZIMUT-3 uses eight actuators for lo-comotion: four for propulsion and four for steering the wheels, which can rotate 180 degrees around their steering axis.(More)
  • 1