Pierre Tournassoud

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We describe a robot system capable of locating a par t in an unstructured pile of objects, choose a grasp on the part, plan a motion to reach the part safely, and plan a motion to place the part at a commanded position. The system requires as input a polyhedral world model including models of the part to be manipulated, the robot arm, and any other fixed(More)
Regrasping must be performed whenever a robot's grasp of an object is not compatible with the task it must perform. Imagine a robotic cell with an arm alternatively picking up parts from a conveyor or a pallet and inserting them. The parts are presented in arbitrary orientations. I t can happen that the task cannot be achieved within a single grasp, due to(More)
Presents a tool for designing locomotion plans and controlling their execution, suited for mobile robots with an extensive set of command and perception primitives. The use of this tool is illustrated by its application to RAMI, a four-tiltable-track robot fitted to a large scope of applications requiring high locomotion agility. A discussion of plan(More)
In this paper, we propose a mixed approach for motion planning that decomposes the problem into two levels. At the global level, we build a graph whose nodes represent relatively large cells of the Configuration Space of the robotic system. Adjacent cells are connected by edges weighted by the probability for the local planner to succeed in computing a(More)
Whereas navigation in a constrained environment has been eztensively studied over the past decade, research focused o n autonomous navigation and locomotion over a rough terrain has only recently been undertaken. I n this paper, we briefly introduce a framework and prospective solutions for Intelligent Locomotion, which we define as the ability for a mobile(More)
A collection of slides from the author's PowerPoint presentation is provided. Some of the conclusios are: BB and IP everywhere is a true global trend, including in Mobile. Infotainment, personalization and 'non classical' revenue models are key to any future business plan. Network Transformation shall enable proactive, valuable and sustainable(More)