{"id":"https://openalex.org/W99198576","doi":null,"title":"Planification de trajectoire pour la manipulation d'objets et l'interaction Homme-robot","display_name":"Planification de trajectoire pour la manipulation d'objets et l'interaction Homme-robot","publication_year":2011,"publication_date":"2011-01-01","ids":{"openalex":"https://openalex.org/W99198576","mag":"99198576"},"language":"en","primary_location":{"id":"pmh:oai:thesesups.ups-tlse.fr:1452","doi":null,"is_oa":true,"landing_page_url":"http://thesesups.ups-tlse.fr/1452/1/2011TOU30221.pdf","pdf_url":"http://thesesups.ups-tlse.fr/1452/1/2011TOU30221.pdf","source":{"id":"https://openalex.org/S4306400942","display_name":"Th\u00e8ses en ligne de l'Universit\u00e9 Toulouse III (Universit\u00e9 Toulouse III)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I134560555","host_organization_name":"Universit\u00e9 Toulouse III - Paul Sabatier","host_organization_lineage":["https://openalex.org/I134560555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"PhD Thesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://thesesups.ups-tlse.fr/1452/1/2011TOU30221.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008696987","display_name":"Xavier Broqu\u00e8re","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"BROQUERE, Xavier","raw_affiliation_strings":["\u00c9quipe Robotique et InteractionS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9quipe Robotique et InteractionS","institution_ids":[]}]},{"author_position":"last","author":{"id":null,"display_name":"SIDOBRE, Daniel","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"SIDOBRE, Daniel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5008696987"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.763700008392334,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.763700008392334,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.08860000222921371,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0851999968290329,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory-planning","display_name":"trajectory planning","score":0.9269999861717224},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.9430000185966492},{"id":"https://openalex.org/keywords/service-robotics","display_name":"service robotics","score":0.8059999942779541},{"id":"https://openalex.org/keywords/human-robot-safety","display_name":"human-robot interaction safety","score":0.5929999947547913},{"id":"https://openalex.org/keywords/human-comfort","display_name":"human comfort","score":0.3880000114440918},{"id":"https://openalex.org/keywords/polynomial-trajectory","display_name":"polynomial trajectory","score":0.7950000166893005},{"id":"https://openalex.org/keywords/cubic-splines","display_name":"cubic splines","score":0.7129999995231628},{"id":"https://openalex.org/keywords/trajectory-generation","display_name":"trajectory generation","score":0.6140000224113464},{"id":"https://openalex.org/keywords/trajectory-approximation","display_name":"trajectory approximation","score":0.9670000076293945},{"id":"https://openalex.org/keywords/kinematic-limits","display_name":"kinematic limits","score":0.5759999752044678},{"id":"https://openalex.org/keywords/object-manipulation","display_name":"object manipulation","score":0.3919999897480011}],"concepts":[{"id":"https://openalex.org/C15708023","wikidata":"https://www.wikidata.org/wiki/Q80083","display_name":"Humanities","level":1,"score":0.8105517029762268},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.5895702838897705},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.3301005959510803}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:thesesups.ups-tlse.fr:1452","doi":null,"is_oa":true,"landing_page_url":"http://thesesups.ups-tlse.fr/1452/1/2011TOU30221.pdf","pdf_url":"http://thesesups.ups-tlse.fr/1452/1/2011TOU30221.pdf","source":{"id":"https://openalex.org/S4306400942","display_name":"Th\u00e8ses en ligne de l'Universit\u00e9 Toulouse III (Universit\u00e9 Toulouse III)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I134560555","host_organization_name":"Universit\u00e9 Toulouse III - Paul Sabatier","host_organization_lineage":["https://openalex.org/I134560555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"PhD Thesis"},{"id":"pmh:hdl:10068/875142","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/10068/875142","pdf_url":null,"source":{"id":"https://openalex.org/S4377196900","display_name":"OpenGrey (Institut de l'Information Scientifique et Technique)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1295345811","host_organization_name":"Institut de l'Information Scientifique et Technique","host_organization_lineage":["https://openalex.org/I1295345811"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"U - Thesis"},{"id":"pmh:oai:HAL:tel-00644776v1","doi":null,"is_oa":true,"landing_page_url":"https://theses.hal.science/tel-00644776v1/document","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotique [cs.RO]. Universit\u00e9 Paul Sabatier - Toulouse III, 2011. Fran\u00e7ais. ⟨NNT : ⟩","raw_type":"info:eu-repo/semantics/doctoralThesis"}],"best_oa_location":{"id":"pmh:oai:thesesups.ups-tlse.fr:1452","doi":null,"is_oa":true,"landing_page_url":"http://thesesups.ups-tlse.fr/1452/1/2011TOU30221.pdf","pdf_url":"http://thesesups.ups-tlse.fr/1452/1/2011TOU30221.pdf","source":{"id":"https://openalex.org/S4306400942","display_name":"Th\u00e8ses en ligne de l'Universit\u00e9 Toulouse III (Universit\u00e9 Toulouse III)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I134560555","host_organization_name":"Universit\u00e9 Toulouse III - Paul Sabatier","host_organization_lineage":["https://openalex.org/I134560555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"PhD Thesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W99198576.pdf","grobid_xml":"https://content.openalex.org/works/W99198576.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7147539071","https://openalex.org/W408955524","https://openalex.org/W161201920","https://openalex.org/W2921603804","https://openalex.org/W7149451016","https://openalex.org/W192661440","https://openalex.org/W390565588","https://openalex.org/W7197061463","https://openalex.org/W2598634238","https://openalex.org/W7144166010"],"abstract_inverted_index":{"Le":[0,136],"contexte":[1],"de":[2,5,12,16,22,31,38,41,49,65,68,87,93,99,114,129,131,133,159,161,163,169,180,186,197,225,229,248,250],"la":[3,10,29,66,82,94,118,217,246,251],"robotique":[4],"service":[6],"est":[7,139],"caract\u00e9ris\u00e9":[8],"par":[9,156,207],"pr\u00e9sence":[11,224],"l'homme":[13,32,51,226],"dans":[14,204,211,227,259],"l'espace":[15,205,212,228],"travail":[17,230],"du":[18,61,73,97,219,221,231,262,267,282],"robot.":[19,222],"Les":[20],"mouvements":[21],"ces":[23],"robots":[24],"ne":[25],"doivent":[26],"perturber":[27],"ni":[28,33],"s\u00e9curit\u00e9":[30,83],"son":[34],"confort.":[35],"D'un":[36],"point":[37],"vu":[39],"planification":[40,95],"mouvement,":[42],"le":[43,78,85,122,260],"planificateur":[44,185],"doit":[45,80],"d'une":[46],"part":[47,56],"\u00e9viter":[48],"heurter":[50],"ou":[52],"l'environnement":[53],"et":[54,76,84,96,121,188,266,274,280],"d'autre":[55],"adapter":[57,245],"les":[58,154,277],"limites":[59],"cin\u00e9matiques":[60],"robot":[62,79,232],"en":[63],"fonction":[64],"proximit\u00e9":[67],"l'homme.":[69,88],"A":[70],"chaque":[71],"niveau":[72],"syst\u00e8me":[74],"(planification":[75],"ex\u00e9cution/contr\u00f4le),":[77],"garantir":[81],"confort":[86],"Nous":[89,240],"proposons":[90,152,241],"une":[91,107,148,174,201,208,234,242],"approche":[92,215],"contr\u00f4le":[98],"mouvement":[100,249],"bas\u00e9e":[101],"sur":[102,276],"des":[103,126,157,171,190,236],"trajectoires":[104,115,127,155,172,191,237],"polynomiales.":[105],"Dans":[106,147],"premi\u00e8re":[108],"partie,":[109,150],"nous":[110,151],"pr\u00e9sentons":[111],"un":[112],"g\u00e9n\u00e9rateur":[113],"qui":[116],"limite":[117],"vitesse,":[119],"l'acc\u00e9l\u00e9ration":[120],"jerk.":[123],"Il":[124],"g\u00e9n\u00e8re":[125],"compos\u00e9es":[128],"suites":[130,158],"segments":[132,162],"courbes":[134,164],"cubiques.":[135,165],"cas":[137,145],"mono-dimensionnel":[138],"d'abord":[140],"pr\u00e9sent\u00e9":[141],"puis":[142],"\u00e9tendu":[143],"au":[144,184],"multi-dimensionnel.":[146],"deuxi\u00e8me":[149],"d'approximer":[153,200],"triplets":[160],"Cette":[166,214],"m\u00e9thode":[167,243],"permet":[168,199],"calculer":[170],"respectant":[173],"erreur":[175],"maximale":[176],"donn\u00e9e.":[177],"Ces":[178,256],"g\u00e9n\u00e9rateurs":[179],"trajectoire":[181,202,209,252],"sont":[182],"int\u00e9gr\u00e9s":[183,273],"chemin":[187],"produisent":[189],"directement":[192],"ex\u00e9cutables.":[193],"Une":[194],"application":[195],"originale":[196],"l'approximation":[198],"d\u00e9finie":[203,210],"cart\u00e9sien":[206],"articulaire.":[213],"simplifie":[216],"structure":[218],"contr\u00f4leur":[220],"La":[223],"n\u00e9cessite":[233],"adaptation":[235],"pendant":[238,254],"l'ex\u00e9cution.":[239,255],"pour":[244],"loi":[247],"multidimensionnelle":[253],"travaux,":[257],"men\u00e9s":[258],"cadre":[261],"projet":[263,268],"europ\u00e9en":[264],"DEXMART":[265],"ANR":[269],"ASSIST,":[270],"ont":[271],"\u00e9t\u00e9":[272],"valid\u00e9s":[275],"plateformes":[278],"Jido":[279],"PR2":[281],"LAAS-CNRS.":[283]},"counts_by_year":[{"year":2022,"cited_by_count":20},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}