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Directional coding of hand movements is of primary importance in the proactive control of goal-directed aiming. At the same time, manual reaction times are known to be asymmetric when reaching at lateralized targets. Generally, ipsilateral movements and left hand advantages are interpreted using the classical model of interhemispheric transmission for(More)
This paper formalizes the robustness of a virtual human dynamic equilibrium through the residual radius of its admissible generalized force set. The admissible generalized force set is defined as the image of the contact force constraints (corresponding to the Coulomb model) in the generalized force space. This set is approximated by a polyhedron and its(More)
Right-handers exhibit a left hand advantage in response preparation when pointing to targets. These manual asymmetries are generally attributed to a right hemisphere specialization for spatial processing. More precisely, the left hand reaction time (RT) advantage was recently supposed to reflect specifically the right hemisphere superiority for movement(More)
To what extent does visual feedback shape the coordination between our arms? As a first step towards answering this question, this study compares bimanual coupling in simultaneous bimanual reversal movements that control cursor movements on a vertical screen. While both cursors were visible in the control condition, visual feedback was prevented in the(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)
— This paper investigates the strategies used during the human sit to stand movement. The analysis was carried out by means of the 3D videographic examination methods and a posturographic platform. The joint trajectories corresponding to the motion were reconstructed using the Humanoid Motion Analysis and Simulation (HuMAnS) toolbox developed at(More)
This paper deals with the biomimetic design of a humanoid head prototype. This prototype is developed in order to offer some mechanical device for multimodality objectives, and to demonstrate the importance of uncoupled eyes mechanism in humanoid head function. Indeed, the prototype development is based on our understanding of the humans head properties in(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)
3.1 INTRODUCTION Ce chapitre aborde le problème de l'analyse de l'équilibre et de la synthèse par la commande de la coordination des mouvements d'humains virtuels pour la simulation réaliste d'activités physiques quotidiennes ou professionnelles telles qu'illustré par la figure 3.1. La synthèse d'actions motrices physiquement réalistes et biologiquement(More)