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Gentiane Venture

 
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NameGentiane Venture
URLhttp://web.tuat.ac.jp/~venture
AffiliationTokyo University of Agriculture and Technology
SectionInstitute of Engineering, Division of Advanced Mechanical Systems Engineering
Job titleProfessor
ORCID ID0000-0001-7767-4765

Profile

Gentiane Venture is a French Roboticist who has been working in academia in Tokyo, Japan for more than 10 years. She is a distinguished professor with the Tokyo University of Agriculture and Technology and a cross appointed fellow with the National Institute of Advanced Industrial Science and Technology. After graduating from Ecole Centrale de Nantes and obtaining a PhD from University of Nantes in 2000 and 2003 respectively, she worked for one year at the French Nuclear Agency and then for 6 years at the University of Tokyo. She started in 2009 with Tokyo University of Agriculture and Technology where she has established an international research group working on human science and robotics. The researchers of her group try to encompass human motion dynamics and non-verbal communication into complex intelligent robot behavior design to achieve personalized human machine interaction. The work of her group is highly interdisciplinary by collaborating with therapists, sociologists, psychologists, physiologists, philosophers, neuroscientists, ergonomists, biomechanists, and designers.

研究キーワード

 
Robot Robotics Philosophy Biomechanics Psychology HRI Ergonomics Control Design Assistive robotics

研究分野

 
  • Informatics / Mechanics and mechatronics / Intelligent Mechanics/Mechanical System
  • Informatics / Robotics and intelligent systems / Intelligent Mechanics/Mechanical System
  • Informatics / Mechanics and mechatronics / Machine Mechanics/Control
  • Humanities & social sciences / Social psychology / Social Psychology
  • Humanities & social sciences / Philosophy and ethics / Philosophy/Ethics
  • Life sciences / Sports science / Sports Science
  • Life sciences / Rehabilitation science / Rehabilitation Science/Welfare Engineering
  • Informatics / Intelligent informatics / Intelligent Informatics
  • Informatics / Perceptual information processing / Perception Information Processing/Intelligent Robotics

経歴

 
Nov 2006
 - 
Feb 2009
The University of Tokyo IRT Research Initiative Project Assistant Professor, -
 
Nov 2004
 - 
Oct 2006
The University of Tokyo JSPS Postdoc, -
 
Jan 2004
 - 
Nov 2004
French Nuclear Agency Department of Robotics and Intelligent Systems Research Associate, -
 
Nov 2000
 - 
Nov 2003
Peugeot-Citroen (Car Manufacturer) PhD student/Researcher, -
 
Mar 2009
   
 
Tokyo University of Agriculture and Technology Assciate Professor, -
 

学歴

 
Nov 2000
 - 
Nov 2003
Graduate School, Division of Information Engineering, Ecole Centrale de Nantes - University of Nantes
 
Sep 1999
 - 
Sep 2000
Graduate School, Division of Information Engineering, University of Nantes
 

受賞

 
Mar 2011
Neurocreative Lab
 

論文

 
Gentiane Venture
IEEE Robotics and Automation Magazine   21(4) 130-131   2014   [Refereed]
Activities in the first category are mostly present at the elementary level, when gender stereotypes and gendering of tasks and roles are not yet strongly fixed. However, the children identify robots primarily as toys and are unaware of their tech...
Ritta Baddoura, Gentiane Venture
Frontiers in Neurorobotics   8(MAR) 12-12   2014   [Refereed]
During an unannounced encounter between two humans and a proactive humanoid (NAO, Aldebaran Robotics), we study the dependencies between the human partners' affective experience (measured via the answers to a questionnaire) particularly regarding ...
Yusuke Ogawa, Daichi Maita, Gentiane Venture
IFAC Proceedings Volumes (IFAC-PapersOnline)   19(3) 2159-2164   2014   [Refereed]
© IFAC. The flexibility and deformations of the human plantar arch are among the most important issues when walking. Especially, the efficiency and mechanisms of the plantar arch should be demonstrated because there are few beings that have such a...
Yuya Mikami, Thomas Moulard, Eiichi Yoshida, Gentiane Venture
IFAC Proceedings Volumes (IFAC-PapersOnline)   19(3) 10219-10224   2014   [Refereed]
© IFAC. This paper describes the dynamics identification of the foot viscoelasticity of humanoid robots. It is important to know correctly dynamics parameters of link and joint which constitute a robot for its simulation and model based control. W...
Ryo Hosoda, Gentiane Venture
IFAC Proceedings Volumes (IFAC-PapersOnline)   19(3) 12305-12310   2014   [Refereed]
© IFAC. In this paper we propose a method for human joint torque estimation with surface-electromyogram (sEMG) during dynamic joint movements. sEMG measurement is non-invasive and costs less than external force measurement. Typical torque estimati...
Tempei Wachi, Seiya Ogawa, Yasutaka Tagawa, Gentiane Venture
MOVIC 2014 - 12th International Conference on Motion and Vibration Control   2C15   2014   [Refereed]
© 2014 The Japan Society of Mechanical Engineers. Mechanical systems have become more diverse and more complex. Control algorithms have been proposed for those systems by using compact sensors and high performance computers. As a result, the syste...
Gentiane Venture, Hideki Kadone, Tianxiang Zhang, Julie Grèzes, Alain Berthoz, Halim Hicheur
International Journal of Social Robotics   6(4) 621-632   2014   [Refereed]
© 2014, Springer Science+Business Media Dordrecht. Humans convey emotions through different ways. Gait is one of them. Here we propose to use gait data to highlight features that characterize emotions. Gait analysis study usually focuses on stance...
K. Aoki, G. Venture, Y. Tagawa
ロボット学会誌   31(10) 1001-1008   Dec 2013   [Refereed]
K. Shimono, Y. Inoue, G. Venture, Y. Tagawa
Int. Symp. on Future Active Safety Technology toward zero-traffic-accident (FAST-zero'13), Nagoya, Japan, 2013   DVD proceedings   Nov 2013
Ritta Baddoura, Gentiane Venture
International Journal of Social Robotics   5(4) 529-547   Nov 2013   [Refereed]
We explore the human affective state of the familiar during a new or unknown situation as it relates to interacting with a robot. In a real unannounced interaction, we measure the familiar experienced by two humans interacting with a robot and the...
R. Baddoura, G, Venture
Conference III - Intercompéhension de l'intraspécifique à l'interspécifique, Lorient, France, 2013   (to be published)   Sep 2013   [Refereed]
G. Venture
IEEE Robotics & Automation Magazine   21(2) 98-99   Sep 2013
C. Hansen, N. Rezzoug, P. Gorce, B. Isableu, G. Venture
Proc. of the Congress of the Int. Society of Biomechanics. Natal, Brazil, 2013.   DVD   Aug 2013   [Refereed]
R. Matsukata, Y. Tagawa, G. Venture, M. Gautier, S. Briot, A. Jubien
MOVIC 2013, Fukuoka, Japan, 2013   C-06   Aug 2013
D. Maita, G. Venture
MOVIC 2013, Fukuoka, Japan, 2013   D-38   Aug 2013
Y. Hirosawa, Y. Tagawa, G. Venture, K. Kajiwara
D & D 2013   (to be published)   Aug 2013   [Refereed]
C. Hansen, T. Zhang, N. Rezzoug, P. Gorce, B. Isableu, G. Venture
Progress in Motor Control IX, Montreal, Canada, 2013   (to be published)   Jul 2013   [Refereed]
C. Hansen, N. Rezzoug, P. Gorce, G. Venture, B. Isableu
Progress in Motor Control IX, Montreal, Canada, 2013   (to be published)   Jul 2013   [Refereed]
C. Hansen, N. Rezzoug, P. Gorce, G. Venture, B. Isableu
Computer Methods in Biomechanics and Biomedical Engineering   16(SUPPL 1) 70-71   Jul 2013   [Refereed]
C. Hansen, N. Rezzoug, P. Gorce, B. Isableu, G. Venture
Computer Methods in Biomechanics and Biomedical Engineering   16(SUPPL 1) 72-74   Jul 2013   [Refereed]
Y. Kinase, G. Venture
Proc. of the Int. Conf. on Posture and Gait, Akita, Japan, 2013   P3-N-214   Jun 2013   [Refereed]
Y. Ogawa, G. Venture
Proc. of the Int. Conf. on Posture and Gait, Akita, Japan, 2013   5-7   Jun 2013   [Refereed]
C. Hansen, N. Rezzoug, B. Isableu, P. Gorce, G. Venture
Proc. of the Int. Conf. on Posture and Gait, Akita, Japan, 2013   P1-A-37   Jun 2013   [Refereed]
R. Kikuchi, K. Aoki, G. Venture
DVD Proceedings ROBOMEC, Tsukuba, Japan, 2013   2P1-J03   May 2013
Kasaki, Y. Ohta, G. Venture
DVD Proceedings ROBOMEC, Tsukuba, Japan, 2013   1P1-J05   May 2013
M. Iijima, G. Venture
DVD Proceedings ROBOMEC, Tsukuba, Japan, 2013   2P1-G03   May 2013
M. Hotoda, S. Hasegawa, G. Venture
DVD Proceedings ROBOMEC, Tsukuba, Japan, 2013   2A2-H07   May 2013
D. Maita, G. Venture
DVD Proceedings ROBOMEC, Tsukuba, Japan, 2013   2P1-A03   May 2013
Y. Mikami, T. Iwasaki, E. Yoshida, G. Venture
DVD Proceedings ROBOMEC, Tsukuba, Japan, 2013   2P1-A02   May 2013
Y. Ogawa, G. Venture
第18回ロボティクスシンポジア, 2013   284-289   Mar 2013   [Refereed]
Venture, G.
Ieee Robotics & Automation Magazine   20(4) 175-175   2013   [Refereed]
Kengo Aoki, Gentiane Venture, Yasutaka Tagawa
CISM International Centre for Mechanical Sciences, Courses and Lectures   544 217-224   2013   [Refereed]
© 2013, CISM, Udine. We propose a fast motion controller for a robot which has a flexible arm using IDCS control scheme. We test IDCS with the controller suitable for vibration suppressing: DMM to the lift table and consider the target tracking of...
Gentiane Venture, Maxime Gautier
CISM International Centre for Mechanical Sciences, Courses and Lectures   544 317-324   2013   [Refereed]
© 2013, CISM, Udine. Using the essential parameters of the human body, we propose to calculate the LS solution with SVD factorization, which is the closest in 2 norm of a set of a priori anatomic values given by literature database. This solution ...
Gentiane Venture, Ritta Baddoura, Tianxiang Zhang
ACM/IEEE International Conference on Human-Robot Interaction   247-248   2013   [Refereed]
This is the 2d stage of a study on the familiar during HRI. We demonstrated the interest of better understanding the human experience of the familiar for an adapted and successful HRI. Here, we explore the relation between experiencing the familia...
Yuta Kinase, Gentiane Venture
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2013 4981-4984   2013   [Refereed]
The information on the mood included in behavior is classified into nonverbal information, and is included in behavior without necessarily being based on the intention of an agent. Consequently, it is considered that we can estimate the mood from ...
Takumi Yabuki, Gentiane Venture
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2013 7245-7248   2013   [Refereed]
Optical motion capture systems, which are used in broad fields of research, are costly; they need large installation space and calibrations. We find difficulty in applying it in typical homes and care centers. Therefore we propose to use low cost ...
Daichi Maita, Gentiane Venture
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2013 4609-4612   2013   [Refereed]
In fields of sports and rehabilitation, opportunities of using motion analysis of the human body have dramatically increased. To analyze the motion dynamics, a number of subject specific parameters and measurements are required. For example the co...
Maxime Gautier, Sebastien Briot, Gentiane Venture
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013   1429-1435   2013   [Refereed]
The dynamics of each link and joint of a robot is characterized by a set of 14 standard dynamic parameters (6 for the inertia matrix, 3 for the centre of mass coordinates, 1 for the mass and 4 for the drive chain inertia and friction). It is known...
Qin Zhang, Ryo Hosoda, Gentiane Venture
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2013 21-24   2013   [Refereed]
This study aims to investigate a joint motion estimation method from Electromyography (EMG) signals during dynamic movement. In most EMG-based humanoid or prosthetics control systems, EMG features were directly or indirectly used to trigger intend...
Tianxiang Zhang, Michelle Karg, Jonathan Feng Shun Lin, Dana Kulic, Gentiane Venture
Proceedings - IEEE International Workshop on Robot and Human Interactive Communication   220-225   2013   [Refereed]
To facilitate human-robot interactions with the user, it is necessary for the robot to identify the interaction partner. We propose the use of a single wearable sensor worn at the center of the user's belt to record the gait when the interaction p...
Gentiane Venture
IEEE Robotics and Automation Magazine   20(3) 94-95   2013   [Refereed]
Japan is well known for having one of the lowest percentages of women pursuing careers in engineering (<10%), both in industry and at the academic level. Although some efforts have been made to attract women, cultural traditions are still too stro...
Takashi Aoki, Gentiane Venture, Dana Kulić
Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013   1181-1186   2013   [Refereed]
This paper proposes an approach for the temporal segmentation of human body movements using IMU (Inertial Measurement Unit). The approach is based on online HMM-based segmentation of continuous time series data. In previous studies, the real-time ...
Maxime Gautier, Gentiane Venture
IEEE International Conference on Intelligent Robots and Systems   5815-5820   2013   [Refereed]
For any rigid robot, a set of 14 standard parameters characterises the dynamics of each of its links and joints. Only a subset of these standard parameters: the base parameters have unique values identified with the Inverse Dynamic Identification ...
T. Zhang, G. Venture
11th Int. Symp. on Advanced Technology   17-18   Nov 2012   [Refereed]
G. Venture, M. Gautier
Proc. IFAC Int. Symp. Robot Control, Dubrovnik, Croatia, 2012   728-733   Sep 2012   [Refereed]
T. Zhang, G. Venture
Int. Conf. on Artificial Intelligence: Methodology, Systems, Applications   325-333   Sep 2012   [Refereed]
T. Iwasaki, G. Venture, E. Yoshida
30th RSJ Conference, Sapporo, Japan, 2012   RSJ2012AC4K2-5   Sep 2012
Q. Zhang, G. Venture
30th RSJ Conference, Sapporo, Japan, 2012   140-143   Sep 2012
R. Baddoura, G. Venture, R. Matsukata
30th RSJ Conference, Sapporo, Japan, 2012   RSJ2012AC4M2-3   Sep 2012
R. Baddoura, G. Venture, R. Matsukata
IEEE Ro-Man Workshop on Developmental and bio-inspired approaches for social cognitive robotics   e-proceedings   Sep 2012   [Refereed]
G. Venture, T. Zhang
Proc. of the Int. Conf. on Posture and Gait, Trondheim, Norway   25-26   Jun 2012
Y. Ogawa, G. Venture
18回日本IFToMM会議シンポジウム, Tokyo, Japan, May 2012   29-34   May 2012   [Refereed]
S. Sakaguchi, G. Venture, M. Hayashibe, C. Azevedo-Coste
18回日本IFToMM会議シンポジウム, Tokyo, Japan, May 2012   25-28   May 2012   [Refereed]
T. Aoki, G. Venture, D. Kulic
ROBOMEC 2012   2P1-B09    May 2012
K. Aoki, G. Venture, Y. Tagawa
ROBOMEC 2012   2A1-E03    May 2012
N. Tsukabe, G. Venture
ROBOMEC 2012   2P1-K05    May 2012
R. Matsukata, G. Venture, Y. Tagawa
ROBOMEC 2012   1A2-N05    May 2012
Y. Ogawa, G. Venture
ROBOMEC 2012   1A2-N05    May 2012
Gentiane Venture, Maxime Gautier
IFAC Proceedings Volumes (IFAC-PapersOnline)   45(22) 729-734   2012   [Refereed]
The human body is modeled as a humanoid robot with 34 dof and 15 links. The inverse dynamic model of the robot is linear in relation to 10 standard physical inertial parameters for each link which are the mass, the 6 inertia matrix coefficients an...
Seiya Sakaguchi, Gentiane Venture, Christine Azevedo, Mitsuhiro Hayashibe
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics   1644-1649   2012   [Refereed]
In order to understand the human motion control strategies and to restore these functions, or to artificially generate limbs motion it is necessary to have an accurate understanding of the limb dynamics. The inertial parameters can be identify eas...
Tianxiang Zhang, Gentiane Venture
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   7557 LNAI 325-333   2012   [Refereed]
In order to develop truly intelligent systems, it is necessary to improve their ability to understand non-verbal communication. We propose a novel framework to recognize individuals and emotions from gait, in order to improve HRI. We collected the...
Sakaguchi, Seiya, Venture, Gentiane, Azevedo, Christine, Hayashibe, Mitsuhiro
2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)   1644-1649   2012   [Refereed]
In order to understand the human motion control strategies and to restore these functions, or to artificially generate limbs motion it is necessary to have an accurate understanding of the limb dynamics. The inertial parameters can be identify eas...
Gentiane Venture, Maxime Gautier
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   508-513   2012   [Refereed]
The human body is modeled as a humanoid robot with 34 dof and 15 links. The inverse dynamic model of the robot is linear in relation to 10 standard physical inertial parameters for each link which are the mass, the 6 inertia matrix coefficients an...
Tianxiang Zhang, Gentiane Venture
Cybernetics and Information Technologies   12(3) 86-95   2012   [Refereed]
We propose a novel framework to recognize individuals from gait, in order to improve HRI. We collected the motion data of the torso from 13 persons' gait, using 2 IMU sensors. We developed Feature Value Method which is a PCA based classifier and w...
Ritta Baddoura, Gentiane Venture, Ryo Matsukata
IEEE-RAS International Conference on Humanoid Robots   234-241   2012   [Refereed]
Familiar to everyone, expressions such as 'familiar, to familiarize, familiarity' are commonly used in reviews on HRI. Nevertheless, 'the familiar' is a notion that lacks a precise definition and only rare studies tackle it directly. This paper is...
Toru Iwasaki, Gentiane Venture, Eiichi Yoshida
IEEE-RAS International Conference on Humanoid Robots   449-454   2012   [Refereed]
This paper describes the dynamics identification of humanoid robots. It is important to know correctly dynamics parameters of link and joint which constitute a robot for its control. Here, we identify the inertial parameters of legged systems usin...
T. Zhang, G. Venture
21st An. Conf. of the Japanese Neural Network Society   196-197   Dec 2011   [Refereed]
T. Zhang, G. Venture
29th RSJ Conference, Tokyo, Japan, 2011   RSJ2011AC1N1-1    Sep 2011
K. Enomoto, G. Venture
17th Jc-IFToMM Symposium (Japanese Council)   1-4   Jul 2011   [Refereed]
Y. Kawashima, G. Venture, N. Kawashima
17th Jc-IFToMM Symposium (Japanese Council)   9-14   Jul 2011   [Refereed]
K. Ayusawa, G. Venture, Y. Nakamura
Proc. of the IFToMM World Congress, Guanajuato, Mexico 2011   A8_497    Jun 2011   [Refereed]
G. Venture, H. Kadone, A. Berthoz
Proc. of the Int. Conf. on Posture and Gait, Akita, Japan, 2011. (conference cancelled, published in the 2012 conference proceedings)   333-334   Jun 2011   [Refereed]
Y. Kawashima, G. Venture, N. Kawashima
Proc. of the Int. Conf. on Posture and Gait, Akita, Japan, 2011 (conference cancelled, published in the 2012 conference proceedings)   332-333   Jun 2011   [Refereed]
G. Venture
Proc. of the Int. Conf. on Posture and Gait, Akita, Japan, 2011 (conference cancelled published in the 2012 conference proceedings)   334-335   Jun 2011   [Refereed]
M. A. Abdullah, Y. Michitsuji, M. Nagai, G. Venture
J. of System Design and Dynamics   5(5) 1141-1154   May 2011
Y. Inoue, Y. Tagawa, G. Venture
ROBOMEC 2011   DVD Proceedings    May 2011
K. Aoki, G. Venture, Y. Tagawa
ROBOMEC 2011   DVD Proceedings    May 2011
Venture, Gentiane
NEUROSCIENCE RESEARCH   71 E17-E17   2011   [Refereed]
Ko Ayusawa, Gentiane Venture, Yoshihiko Nakamura
Proceedings - IEEE International Conference on Robotics and Automation   6282-6287   2011   [Refereed]
The mass parameters of the human body segments are important when studying motion dynamics and the invivo method to obtain accurate parameters is required in biomechanics studies and for some medical applications. In our previous works, we propose...
Kengo Aoki, Gentiane Venture, Yasutaka Tagawa
IEEE International Conference on Intelligent Robots and Systems   4710-4715   2011   [Refereed]
We propose a fast motion controller for a robot which has a flexible arm using the IDCS control scheme. The IDCS control scheme, which corresponds to a numerical computation of the inverse dynamics of the systems, allows stable high performance co...
Mitsuhiro Hayashibe, Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura
IEEE International Conference on Intelligent Robots and Systems   3701-3707   2011   [Refereed]
In current biomechanics approach, the assumptions are commonly used in body-segment parameters and muscle strength parameters due to the difficulty in accessing those subject-specific values. Especially in the rehabilitation and sports science whe...
K. Ayusawa, G. Venture, Y. Nakamura
Journal of the Robotics Society of Japan   28(8) 1004-1013   Nov 2010   [Refereed]
Gentiane Venture, Togoroh Kojima, Yasutaka Tagawa
Proc. of the Int. Conf. on Multi-body System Dynamics   DVD proceedings   May 2010   [Refereed]
Ko Ayusawa, Gentiane Venture, Yoshihiko Nakamura
Proceedings - IEEE International Conference on Robotics and Automation   3715-3720   2010   [Refereed]
The mass properties are important to control robot dynamics or study human dynamics. In our previous works, we proposed a method to identify inertial parameters of legged mechanisms from base-link dynamics, using generalized coordinates and extern...
Gentiane Venture
2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10   2010 1292-1295   2010   [Refereed]
Human gait has been proven to be of importance when trying to recognize people. In addition gait also conveys the emotional state of someone. The present study propose to objectively and systematically analyze gait data to highlight features that ...
Gentiane Venture, Céline Hamon
2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010   295-300   2010   [Refereed]
The knowledge of the segment parameters (SP) of the human body is crucial to understand, analyze and simulate human motions. The most recent technologies have enabled to identify the segment parameters, to compute in real-time variations of the To...
Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009   1627-1632   Dec 2009   [Refereed]
Mass parameters of the human body segments are mandatory when studying motion dynamics. In orthopedics, biomechanics and rehabilitation they are of crucial importance. Inaccuracies their value generate errors in the motion analysis, misleading the...
Ayusawa Ko, Venture Gentiane, Nakamura Yoshihiko
Journal of the Robotics Society of Japan   27(9) 1066-1077   Dec 2009   [Refereed]
K. Ayusawa, G. Venture, Y. Nakamura
Proc. 14th Robotics Symposia   7-14   Mar 2009
G. Venture, K. Ayusawa, Y. Nakamura
Proc. 14th Robotics Symposia   516-521   Mar 2009
Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura
Proceedings - IEEE International Conference on Robotics and Automation   1226-1231   2009   [Refereed]
Identification results dramatically depend on the excitation properties of the motion used to sample the identification model. Strategies to define persistent exciting trajectories have been developed for manipulator robots with few DOF. However t...
Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura
2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009   109-114   2009   [Refereed]
The segment parameters of the human body are indispensable to compute the motion dynamics. They are used in numerous medical fields, in biomechanics and rehabilitation. Inaccuracies in the parameters generate errors in the interpretation of the mo...
Ko Ayusawa, Gentiane Venture, Yoshihiko Nakamura
IFAC Proceedings Volumes (IFAC-PapersOnline)   15(PART 1) 693-698   2009   [Refereed]
When simulating and controlling robot dynamics, it is necessary to know the inertial parameters of robots accurately. However these parameters are usually not provided by manufacturers, identification is then essential. We have proposesd a method ...
Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura
IFAC Proceedings Volumes (IFAC-PapersOnline)   15(PART 1) 988-993   2009   [Refereed]
We experimentally identify the human body dynamics from motion capture data and contact force measurements. We make use of the 6 base-link equations to write the identification model. We have shown that the obtained system is sufficient to estimat...
Dana Kulić, Gentiane Venture, Yoshihiko Nakamura
Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009   2009 4011-4014   2009   [Refereed]
This paper proposes a stochastic approach for representing and analyzing the gradual changes that occur in human movement during sports training. Human movement primitives are described using Factorial Hidden Markov Models, and compared using the ...
Gentiane Venture, Ko Ayusawa, Dana Kulic, Yoshihiko Nakamura
Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009   2009 5247-5250   2009   [Refereed]
The segment parameters (SP) consisting of inertia and position of the center of mass of each segment, of the human body are crucial data when one wants investigate motion dynamics. The segment parameters vary with time according to immobilization,...
Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura
Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009   2009 3983-3986   2009   [Refereed]
Mass parameters of the body segments are mandatory to study motion dynamics. No systematic method to estimate them has been proposed so far. Rather, parameters are scaled from generic tables or estimated with methods inappropriate for in-patient c...
Gentiane Venture, Katsu Yamane, Yoshihiko Nakamura, Tomotaka Yamamoto
International Journal of Robotics Research   28(10) 1322-1333   2009   [Refereed]
In this paper we present an original method to estimate in vivo the joint dynamics of the human limbs. The method is based on a non-invasive and painless technology making use of an optical motion capture system and an associated skeletal model to...
Ko Ayusawa, Gentiane Venture, Yoshihiko Nakamura
2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008   1-7   2008   [Refereed]
The inertial parameters are important to generate motion patterns for humanoid robots. Conventional identification methods can be used to estimate these parameters; however they required the joint torque estimates that can be obtained by modeling ...

MISC

 
Enrique Coronado, Fulvio Mastrogiovanni, Gentiane Venture
   Sep 2017
With the expected adoption of robots able to seamlessly and intuitively
interact with people in real-world scenarios, the need arises to provide
non-technically-skilled users with easy-to-understand paradigms for customising
robot behaviors. In th...
Morishima Saori, Ayusawa Ko, Yoshida Eiichi, Venture Gentiane
ICAM   2015(0)    2015
This paper presents a method for generating a whole-body squat motion for humanoid robot HRP-4 from human motion data. We convert joint angle trajectories into linear combination of base functions which are cubic B splines. In order to take into a...
WACHI Tempei, OGAWA Seiya, TAGAWA Yasutaka, VENTURE Gentiane
MoViC   2014(0) _2C15-1_-_2C15-12_   2014
Mechanical systems have become more diverse and more complex. Control algorithms have been proposed for those systems by using compact sensors and high performance computers. As a result, the systems as well as the controller design processes have...
OGAWA Yusuke, Venture Gentiane
Trans. jpn. Soc. Med. Bio. Eng   51(0) R-114-R-114   2013
ABDULLAH Mohd Azman, MICHITSUJI Yohei, NAGAI Masao, VENTURE Gentiane
JSDD   5(5) 1141-1154   2011
High performance of the contact wire and pantograph dynamic interaction is required in the operation of high speed railway vehicles. Due to the constraint of field test, simulation and lab experiment procedures are performable to verify the intera...

共同研究・競争的資金等の研究課題

 
Japan Society for the Promotion of Science: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
Project Year: Apr 2019 - Mar 2022
日本学術振興会: 科学研究費助成事業 基盤研究(B)
Project Year: Apr 2017 - Mar 2020
Japan Society for the Promotion of Science: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)
Project Year: Apr 2016 - Mar 2019
Japan Society for the Promotion of Science: Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research
Project Year: Apr 2015 - Mar 2018
独立行政法人日本学術振興会(JSPS): 
Project Year: Apr 2016 - Mar 2017

書籍等出版物

 
G. Venture, V. Bonnet, D. Kulic (Part:共著)
Springer Tracts in Advanced Robotics   Dec 2018   
G. Venture, K. Ayusawa (Part:共著)
Springer   Dec 2017   ISBN:9789400771949
G. Venture, R. Baddoura, Y. Kawashima, N. Kawashima, T. Yabuki
Springer Tracts in Advanced Robotics 114   Feb 2016   ISBN:9783319288727
G. Venture, T. Yabuki, Y. Kinase, A. Berthoz, N. Abe (Part:共著)
Springer Tracts in Advanced Robotics 111   Jan 2016   ISBN:9783319257372

講演・口頭発表等

 
G. Venture
"Collaborative robotics and Ergonomics" Congress International Ergonomics Association   26 Aug 2018   Ergonomics Association
I. Ocnarescu, G. Venture
WACAI   25 Jun 2018   WACAI
V. Bonnet, A. Crosnier, G. Venture, M. Gautier, P. Fraisse
IEEE Int. Conf. on Robotics and Automation   23 May 2018   IEEE=RAS
TBD [Invited]
G. Venture
Int. Conf. on Robotics and Automation   21 May 2018   IEEE-RAS
L. Rincon Ardila, E. Coronado, H. Hendra, J. Phan, Z. Izzati Binti Zainalkefli, G. Venture
IEEE Int. Conf. on Control and Robotics Engineering   22 Apr 2018   IEEE

所属学協会

 
日本感性工学会 , Japanese Society of Robotics , IFToMM Japanese Council , IEEE - senior member , IEEE-RAS