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Développement d’un système robotique de télé-assistance par analogie bio-mimétique. par Yves RYBARCZYK. Laboratoire Systèmes Complexes, FRE 2494, CNRS - Université d’Evry-Val d’Essonne Laboratoire Mouvement et Perception , UMR 6152, CNRS - Université d’Aix-Marseille II. Plan. - PowerPoint PPT Presentation

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  • Laboratoire Systmes Complexes, FRE 2494, CNRS - Universit dEvry-Val dEssonne

    Laboratoire Mouvement et Perception, UMR 6152, CNRS - Universit dAix-Marseille IIDveloppement dun systme robotique de tl-assistance par analogie bio-mimtiquepar

    Yves RYBARCZYK

  • Plan contraintes de la tlopration=> appropriation ? adaptation homme-machine hypothse : approche anthropocentrique dimension fonctionnelle : interprtation des avantages de lanthropocentrisme dimension morphologique :- modlisation de lanticipation visuo-motrice

    - exprience 1 : relation vision/effecteur- schma corporel

    - exprience 2 : consquences sur le contrle moteur

  • Situation de tlopration

  • Dficiences sensori-motricesSensoriel : appauvrissements (vision, proprioception et audition) dfauts dautomatisation (=> lvation de la charge de travail mental) pertes (toucher et odorat)Moteur : distorsions sensori-motrices (e.g. diffrence dans la dynamique de mouvement)

  • ProblmatiqueConditions trs appauvries par rapport une situation naturelle appropriation possible ? comment lever le niveau dappropriation ?

  • Principe de ladaptation humaineAssimilation

    Accommodation => gnralisation des schmes prexistants => diffrentiation des schmes prexistants(Piaget, 1936)

  • Application la relation homme-machineassimilationaccommodationApproche anthropocentrique

  • Hypothsesanthropocentrismeappropriation

  • Systme ARPH

    _1107293862.doc

    station de contrle

    camra orientable en

    site et azimut

    bras manipulateur

    robot mobile

  • Dimension morphologiquePositionnement du rfrentiel visuel

    par rapport lorgane prhenseur

  • Schma corporel Espace pricorporel Espace extracorporel |||||||||||||||

  • Proprits dynamiques du schma corporel Allongement du champ rcepteur visuel des neurones bimodaux du cortex intraparital du singe, aprs utilisation dun outil (Iriki et al., 1996).

    Prolongement de la ngligence dun hmingligent pour lespace pripersonnel, la dimension de la baguette tenue en main (Berti & Frassinetti, 2000).

  • HypothseFacilitation de lincorporation du robot dans le schma corporel quand la configuration du dispositif tend vers une reprsentation anthropomorphique

  • Evaluation de lincorporationPilim = D / B

    D = distance maxi estime atteignable par simple extensionB = longueur du bras (humain ou robotique)Si Pilim tend vers 1 => loprateur a une bonne reprsentation des capacits dextension du brasIndice daffordance Pi (Warren & Whang, 1987) :

    Pi = Caractristiqueenvironnement / Caractristiquehumaine

  • Conditions exprimentales

  • Protocole Evaluation : analyse de la performance ; calcul du ratio Pilim = D/B.

    Saisie dobjets placs diffrentes distances laide du bras humain ou robotique. Mesure de la longeur datteinte (B) par simple extension du bras humain ou robotique.

    Recherche de la distance maxi (D) pour laquelle le sujet estime que lobjet prsent est atteignable par simple extension du bras humain ou robotique.

  • Taux de russite

  • Temps de mouvement

  • Valeurs de lindice Pilim

    _1125669754.xls

    Graph1

    1.01086438350.020.02

    0.97189692580.030.03

    1.06713586910.050.05

    1.15225562810.03666827530.0366682753

    conditions

    Pi

    Feuil2

    estimation (total)estimation (session 1)estimation (session 2)estimation (session 3)estimation (session 4)

    -40-2002040-40-2002040-40-2002040-40-2002040-40-2002040

    chris0.950.960.951.021.02anthropomorphe0.910.920.941.051.110.960.940.941.020.920.961.021.021.031.030.980.970.881.001.02

    hamid0.980.990.960.961.02anthropomorphe0.810.840.950.961.060.961.030.900.860.941.061.020.981.070.951.081.081.010.951.12

    sofian0.940.960.860.920.92anthropomorphe0.940.980.891.000.960.950.930.790.870.990.931.020.900.850.840.950.890.870.960.88

    waeb0.950.960.951.021.02anthropomorphe0.910.920.941.051.110.960.940.941.020.920.961.021.021.031.030.980.970.881.001.02

    moyenne0.980.970.930.981.000.970.890.910.931.011.060.960.960.890.940.940.981.020.980.990.961.000.980.910.981.01

    cart-type0.010.010.020.030.030.030.030.030.010.020.040.000.020.040.040.020.030.000.030.050.050.030.040.030.010.05

    alexis1.111.081.061.171.30biais1.101.070.991.061.121.211.141.121.141.321.131.051.081.151.311.011.051.061.351.45

    danielo1.071.030.981.111.07biais1.010.930.930.990.921.041.051.051.151.211.101.020.971.051.071.131.130.991.241.08

    momo0.920.970.930.951.07biais0.820.880.850.970.881.021.131.000.861.180.880.920.870.901.080.970.970.991.051.13

    omar1.121.121.021.161.19biais1.131.051.131.001.241.151.061.051.131.141.001.101.061.221.151.211.260.851.291.25

    moyenne1.061.051.001.101.131.071.010.980.981.011.041.111.091.051.071.211.031.021.001.081.151.081.100.971.231.23

    cart-type0.050.030.030.050.060.050.070.050.060.020.080.040.020.020.070.040.060.040.050.070.060.050.060.040.060.08

    abder1.101.041.011.071.11dessus1.181.201.241.161.301.160.920.901.021.051.051.070.891.050.931.010.971.021.031.15

    christ1.131.261.201.331.20dessus1.131.121.161.201.351.131.211.201.531.211.051.361.251.281.101.181.321.171.321.14

    madgit1.111.131.101.191.22dessus1.111.181.151.281.121.171.171.141.301.371.071.061.061.111.161.081.131.041.071.23

    seb1.181.211.141.191.15dessus1.331.301.171.321.011.081.121.121.021.271.141.181.121.141.281.171.241.141.281.03

    moyenne1.131.161.111.201.171.151.191.201.181.241.191.141.101.091.221.221.081.171.081.151.121.111.161.091.181.14

    cart-type0.020.050.040.050.030.040.050.040.020.040.080.020.060.070.120.070.020.070.070.050.070.040.080.040.070.04

    djaber0.870.880.830.930.98ct0.840.860.740.861.010.880.740.881.030.990.880.910.740.820.960.861.020.971.010.96

    kair0.780.850.870.940.94ct0.690.800.850.991.010.870.890.790.930.910.680.800.940.940.940.880.910.920.920.88

    jy0.880.860.960.960.94ct0.790.730.891.070.800.920.841.020.931.010.960.911.021.001.070.870.970.910.830.89

    franois0.880.860.960.960.94ct0.790.730.891.070.800.920.841.020.931.010.960.911.021.001.070.870.970.910.830.89

    moyenne0.850.860.900.940.950.900.780.780.841.000.900.900.830.930.960.980.870.880.930.941.010.870.970.930.900.90

    cart-type0.050.040.030.010.020.040.030.030.030.050.060.010.030.060.030.020.070.030.070.040.030.000.020.010.040.02

    humainestimation (session 1)estimation (session 2)estimation (session 3)estimation (session 4)

    -40-2002040-40-2002040-40-2002040-40-2002040-40-2002040

    hamed0.981.010.991.001.00humaine0.991.000.991.001.040.991.040.991.031.021.001.000.970.970.920.961.001.011.001.01

    madgit1.010.981.001.021.03humaine0.971.051.061.011.011.020.921.041.061.021.010.990.971.041.051.030.950.930.971.05

    omar1.021.041.031.061.06humaine1.011.101.001.061.131.071.071.031.101.031.041.001.031.031.030.981.001.071.051.05

    seb0.981.010.991.001.00humaine0.991.000.991.001.040.991.040.991.031.021.001.000.970.970.920.961.001.011.001.01

    moyenne1.001.011.001.021.021.010.991.041.011.021.051.011.021.011.051.021.011.000.991.000.980.980.991.011.001.03

    cart-type0.010.010.010.010.020.020.010.020.020.010.030.020.030.010.020.000.010.000.010.020.040.020.010.030.020.01

    pas de diffrence significative anthro/humain au total

    pas de diffrence significative biais/humain au totalcpt, s'explique, en partie, par un trs fort cart-type, en comparaison avec la condition anthro

    diffrence significative ct/humain au total

    Feuil2

    0.01804804780.01804804780.04556298890.04556298890.01015446280.01015446280.00737742580.0073774258

    0.04716640510.04716640510.03152368510.03152368510.0130869890.0130869890.00798814520.0079881452

    0.03868001850.03868001850.02905520140.02905520140.00979034990.00979034990.02213288380.0221328838

    0.05421437720.05421437720.05181510880.05181510880.01371060080.01371060080.02530991630.0253099163

    0.02523252770.02523252770.05527662930.05527662930.01552442640.01552442640.02542061460.0254206146

    anthropomorphe

    biais

    ct

    humaine

    rayons

    Pi

    0.020.02

    0.030.03

    0.050.05

    0.03666827530.0366682753

    conditions

    Pi

  • Conclusions les performances brutes les plus leves sont systmatiquement obtenues en condition anthropomorphique.plus les configurations sloignent de ce modle humain, plus on observe une tendance gnrale la diminution de ces performances.

    ces rsultats semblent sexpliquer par la plus grande capacit de loprateur intgrer le robot dans son schma corporel, lorsque celui-ci prsente une organisation anthropomorphique.

  • Dimension fonctionnelleImplmentation de mcanismes d

    anticipation visuo-motrice

  • Comportement danticipation visuelle sur le dplacement trajectoire du dplacementobstaclepoint darrivepoint de dpartGrasso et al., 1996

  • Modlisation camra

  • Modlisation plate-forme

  • HypothseLorsque le couplage visuo-locomoteur suit une organisation temporelle de type humain, lappropriation devrait seffectuer par un processus dominante assimilatrice

  • Protocole exprimental- condition camra- condition plate-forme- condition fixe

  • Evaluation (1) Performances brutes : temps dexcution du parcours. nombre de collisions contre les obstacles.

  • Temps moyen dexcution du parcours

    Graph1

    25437.872878950837.8728789508

    1752020

    153.964285714312.173738121212.1737381212

    temps (s)

    stats1

    hichem (1h)tps (s)distance (m)vitessenb arrtsdure arrtscollisionslissageyves (1h)tps (s)distance (m)vitessenb arrtsdure arrtscollisionslissage

    1130180.138461538532101bu