I N T E R A C T I V E R O B O T I C S

INTERACTIVE ROBOTICS

LABORATORY

YANN PERROT

INTRODUCTION TO CEA: CEA-TECH

CEA IS THE 3RD LARGEST PATENT APPLICANT IN FRANCE

» 15,700 employees

» 10 R&D centers in France

» 3,9 billion € budget

» Patent portfolio: 2,200

» 124 startups created since 1984

Defense Energy Technology

CEA-Tech

Life . Materials

Sciences Sciences

CEA – Organization MICRO /

NANOTECHNOLOGIES

NEW ENERGY

TECHNOLOGIES

SMART DIGITAL

SYSTEMS

Staff: 4000

• CEA-Tech mission: »To contribute to business competitiveness

through innovation and technology transfer

Funding FROM RESEARCH

TO INDUSTRY

FUNDAMENTAL

RESEARCH

PUBLICATIONS

APPLIED

RESEARCH

PATENTS

PRODUCTS

MASS

PRODUCTION

PILOT LINE

PROTOTYPES

CEA | 2015 | PAGE 4

Staff

715 people among which

• 500 permanents

• 150 PhD & post-doc

Revenue from partnerships:

70% of the institute’s total budget

CEA LIST INSTITUTE

Key Figures

Located in Paris

Region

■ 4

Publications

300 publications

310 patents

120 licences

13 startup

CEA | 2015 | PAGE 5

SENSORS – DATA PROCESSING

EMBEDDED SYSTEMS

ADVANCED MANUFACTURING

NDT, Virtual reality, robotics, cobotics

Interactive systems 40 %

30 %

30 %

Components

Software

Architecture

Tools/ Usages

Staff

715 people among which

• 500 permanents

• 150 PhD & post-doc

CEA | 2015 | PAGE 6

ROBOTIC RESEARCH AT CEA

1960’s – 70’s

J. Vertut 1980’s – 90’s

computer assisted remote

handling

Unimate 1961

Master arm RH controller Slave arm

Historical activity : Remote handling for nuclear industry

CEA | 2015 | PAGE 7

TAO controller features:

Force feedback master/slave control

Robotics trajectory control

Cartesian/joint position control

Virtual Mechanisms

Position/force homothetic setting

Gripper pursuit with camera

3D graphical supervisor

FORCE FEEDBACK REMOTE HANDLING

CEA | 2015 | PAGE 8

TAO CONTROL

TAO controller features:

Force feedback master/slave control

Robotics trajectory control

Cartesian/joint position control

Virtual Mechanisms

Position/force homothetic setting

Gripper pursuit with camera

3D graphical supervisor

POSITION FORCE

CONTROLLER

MULTILATERAL MASTER/SLAVE CONTROLLER

POSITION FORCE

CONTROLLER

XMd

XMm

XMd

XMm

ISO 17874-3" Remote handling devices for radioactive

materials - Part 3: Electrical master-slave manipulators"

STANDARD REMOTE HANDLING MASTER SLAVE

CEA | 2015 | PAGE 9

Objectives:

Force feedback interface

Master arm for remote handling

Virtual Reality applications

Technologies:

Task oriented architectures

High efficiency actuators

Integrated electronics and embedded control

Haption spin off

HAPTICS

COBOTICS

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CEA | 19 décembre 2012

CEA | 2015 | PAGE 11

COBOTICS FIRSTS WORKS

Force control of an

industrial robot (2001): Strict weight balance Force amplification

CEA | 2015 | PAGE 12

COLLABORATIVE ROBOTICS (COBOTICS)

Assistance to tool

or load handling

Assistance to manual

gesture

Objectives: Human gesture assistance to reduce Muskulo Skeletal Disorders

Human : skills and intelligence Robot : Force, stiffness

Technologies: Force control

Safe interaction Weight balancing Force amplification Virtual guides

Optimal design method

CEA | 2015 | PAGE 13

Objectives:

Mobile assistance to heavy load handling (40 to 100 kg)

Autonomy : 20 km at 4 km/h speed.

Use by healthy operator

Dual application military et civil

Design:

Full electrical design with Li batteries

High efficiency actuators and mechatronics integration

Intention detection and transparent control

Simple design of arms and legs (few d.o.f.)

Results:

Full demonstrator

High transparency and intuitive use

Common Lab. with RB3D

COBOTICS : HERCULE

CEA | 2015 | PAGE 14

COBOTICS : HERCULE

DEXTEROUS MANIPULATION

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CEA | 19 décembre 2012

CEA | 2015 | PAGE 16

DEXTEROUS MANIPULATION FOR AGILE

MANUFACTURING

Dexterous

hands

Anthropomorphic

light weight robot arm

Vision based robot

control

By demonstration

trajectory learning

COLLABORATIVE ROBOTICS

DEXTEROUS MANIPULATION : ROBOTIC HANDS

ABILIS Hand

HANDLE

Objectives:

Bio inspired dexterous hand

Features:

4 / 5 fingers (13 and 24 dof)

Improved dexterity due to force control

Contact detection threshold 10g

without sensor

CEA | 2015 | PAGE 19

Visual servoing for automatic grasping

Intuitive Man Machines Interfaces

Object recognition

Task planning and reaction to unplanned events

AUTONOMOUS MANIPULATION

CEA | 2015 | PAGE 20

MOBILE AUTONOMOUS ROBOTICS

Holonomy

Mobile handling

for logistics

Command Control

CEA | 2015 | PAGE 21

Team :

29 Permanent

8 PhD and 2 Post doc

10 fix term contracts

Resources :

30 Projects

40 % Industrials contracts

20 % Institutional Funding (ANR, Pôles compétitivité…)

20 % Europeans projects

20 % CEA Subvention

Scientific et technical Production

57 Active patents

10 patent pending in 2012

5 actives licenses : AREVA NC, Haption, Cybernetix, ATI, RB3D

8 to 10 publications, 20 to 30 communications by year

INTERACTIVE ROBOTICS LABORATORY

Mobile robotics

Cobotics

Remote handling

CEA | 2015 | PAGE 22

TECHNOLOGIES… FOR INDUSTRIAL APPLICATIONS

Assistive robotics

1. Innovative robotics

architectures

2. High performance actuation

3. Command 4. Supervised control

Software tools

Transport

Advanced manufacturing

Surgery

Nuclear facilities maintenance

DÉCOUVREZ LES INNOVATIONS FRANÇAISES

DANS LE DOMAINE DE LA ROBOTIQUE… !

Inscriptions gratuite avec inscription obligatoire sur

http://www.concours-robotique.fr

Direction Recherche Technologique

Département Intelligence Ambiante et

Systèmes Interactifs

Laboratoire Robotique Interactive

Commissariat à l’énergie atomique et aux énergies alternatives

Institut Carnot CEA LIST

CEA SACLAY – DIGITEO MOULON - DRT/LIST/DIASI

Point courrier n°178 - 91191 GIF SUR YVETTE CEDEX

T. +33 (0)1 69 08 07 07

Etablissement public à caractère industriel et commercial | RCS Paris B 775 685 019

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CEA | 10 AVRIL 2012