Oscar Efraín Ramos Ponce
|
Email: | oramos | at | laas . fr | |
 |
About
Since 2011, I am a Ph.D. Student at the Gepetto Team in LAAS-CNRS and the University of Toulouse III (UPS), under the supervision of Nicolas Mansard and Philippe Souères. I was Teaching Assistant at the University of Toulouse III in robotics and computer vision courses from 2011 to 2014.
During the second half of 2013, I was a visiting researcher at the Robotics Institute of Carnegie Mellon University in Pittsburgh, USA, working with the "Tartan Rescue" team on the DARPA Robotics Challenge. I received the Erasmus Mundus M.Sc. degree in Computer Vision and Robotics (Vibot) in June 2011 from Heriot-Watt University (Edinburgh, U.K.), the University of Girona (Spain), and the University of Bourgogne (France). In 2010, I was research assistant at the Underwater Vision & Robotics Research Center at the University of Girona, and in 2009 I was with the Control, Automation and Robotics Group at the Federal University of Rio Grande do Sul, in Brazil. Previously, I received the B.Sc. degree in Electronic Engineering and the B.Sc. degree in Industrial Engineering both in Peru in December 2008.
Research
My main research area consists in the generation of whole-body motion for humanoid robots using operational-space inverse dynamics (OSID) based on a hierarchical quadratic solver (HQP), which is sometimes referred to as a dynamic Stack of Tasks (SoT). Applications of this framework are also investigated, such as the ability to generate walking motions on uneven terrain using a walking pattern generator, recover whole-body balance loss while performing a task using the capture point, and motion imitation for long-sequence motions. One of the main goals is to incorporate sensor feedback in the inverse dynamics control.
Projects
In 2011/2012 I was part of the project "Robotic dance of HRP-2". In this project, the HRP-2 humanoid robot together with a human dancer, had to perform different types of movements, most of which were previously acquired from the human using the motion capture system at LAAS. This project was part of the "Novela" Festival, and the presentation of the robot took place first at a showroom (salle du Cap) of the University of Toulouse III (Paul Sabatier), and then at a concert hall ("Halle aux Grains") in the city center of Toulouse in front of an audience of more than a thousand people. For more information see Dance with HRP-2.
A database containing some of the most important motions used in this project s available at Novela Motion Capture Database. It contains raw "motion capture" data as well as already processed data after a geometric and dynamic retargeting.
Publications
- Whole-body Motion Integrating the Capture Point in the Operational Space Inverse Dynamics Control. O. Ramos, N. Mansard and P. Souères. In IEEE-RAS International Conference on Humanoid Robots (Humanoid'14), Madrid, Spain, November 2014.
- Dynamic Whole Body Motion Generation for the Dance of a Humanoid Robot. O. Ramos, N. Mansard, O. Stasse, S. Hak and L. Saab. IEEE Robotics & Automation Magazine, January 2015. (accepted).
- Towards Reactive Vision-guided Walking on Rough Terrain: an Inverse-dynamics Based Approach. O. Ramos, M. García, N. Mansard, O. Stasse, J-B. Hayet and P. Souères. International Journal of Humanoid Robotics, 11(2), July 2014.
- An advanced robotics motion generation framework for inferring the organization of human movements. O. Ramos, N. Mansard , O. Stasse and P. Souères. Computer Methods in Biomechanics and Biomedical Engineering, 16(1), September 2013.
- Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints. L. Saab, O. Ramos, N. Mansard, P. Souères and J-Y. Fourquet. IEEE Transaction on Robotics, 29(2):346-362, April 2013.
- Walking on Non-planar Surfaces using an Inverse Dynamic Stack of Tasks. Oscar Efrain Ramos Ponce, Nicolas Mansard, Olivier Stasse and Philippe Sou{ères. In {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012)}, page 7p., Osaka, Japan, November 2012.
- Capture, recognition and imitation of anthropomorphic motion. S. Hak, N. Mansard, O. Ramos, L. Saab and O Stasse. In IEEE Int. Conf. on Robotics and Automation (ICRA'12), pages pp. 3539-3540, St Paul, USA, May 2012. (video session). The video is available here
- Dynamic Motion Capture and Edition using a Stack of Tasks. O. Ramos, L. Saab, S. Hak and N. Mansard. In IEEE-RAS International Conference on Humanoid Robots (Humanoid'11), pages p. 224-230, Bled, Slovenia. IEEE, October 2011. Videos are available here.
- Generic Dynamic Motion Generation with Multiple Unilateral Constraints. L. Saab, O. Ramos, N. Mansard, J-Y. Fourquet and P. Souères. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'11), pages 4127-4133, San Fransisco, USA. IEEE, September 2011.
Master Thesis
- Generation of Complex Dynamic Motion for a Humanoid Robot. O. Ramos. LAAS-CNRS, Heriot-Watt University, University of Girona, University of Bourgogne, for the degree of M.Sc. in Computer Vision and Robotics, June 2011
