Doctorant sous la direction de P. Rodriguez

Titre de la thèse: Adaptive strategies for collision detection and control of lightweight robot manipulators – application to safe human-robot interaction
Résumé de la thèse: This PhD has started on October 1st, 2015 and is carried out in collaboration with the Interactive Robotics Laboratory (LRI) of the French Alternative Energies and Atomic Energy Commission (CEA).

2019

Theses

titre
Impact detection and classification for safe physical Human-Robot Interaction under uncertainties
auteur
Nolwenn Briquet-Kerestedjian
article
Automatic. Université Paris-Saclay, 2019. English. ⟨NNT : 2019SACLC038⟩
Accès au texte intégral et bibtex
https://tel.archives-ouvertes.fr/tel-02278822/file/70675_BRIQUET-KERESTEDJIAN_2019_archivage.pdf BibTex

2017

Conference papers

titre
Generalized momentum based-observer for robot impact detection — Insights and guidelines under characterized uncertainties
auteur
Nolwenn Briquet-Kerestedjian, Maria Makarov, Mathieu Grossard, Pedro Rodriguez-Ayerbe
article
1st IEEE Conference on Control Technology and Applications (CCTA 2017), Aug 2017, Mauna Lani Resort, HI, USA, USA United States. pp.1282-1287, ⟨10.1109/ccta.2017.8062635 ⟩
Accès au bibtex
BibTex
titre
Stochastic observer design for robot impact detection based on inverse dynamic model under uncertainties
auteur
Nolwenn Briquet-Kerestedjian, Maria Makarov, Mathieu Grossard, Pedro Rodriguez-Ayerbe
article
IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France
Accès au texte intégral et bibtex
https://hal-centralesupelec.archives-ouvertes.fr/hal-01621689/file/Briquet%202017%20-%20Stochastic%20observer%20design%20for%20robot%20impact%20detection%20based%20on%20inverse%20dynamic%20model%20under%20uncertainties.pdf BibTex

2016

Conference papers

titre
Quantifying the Uncertainties-Induced Errors in Robot Impact Detection Methods
auteur
Nolwenn Briquet-Kerestedjian, Maria Makarov, Pedro Rodriguez-Ayerbe, Mathieu Grossard
article
IECON 2016 - 42nd Annual Conference of IEEE Industrial Electronics Society, Oct 2016, Florence, Italy. pp.5328-5334, ⟨10.1109/iecon.2016.7793186 ⟩
Accès au texte intégral et bibtex
https://hal-centralesupelec.archives-ouvertes.fr/hal-01416124/file/Briquet%202016%20-%20Quantifying%20the%20Uncertainties-Induced%20Errors%20in%20Robot%20Impact%20Detection%20Methods.pdf BibTex