Section: Partnerships and Cooperations

National Initiatives

ANR CoGiRo project

Participants : David Daney, Jean-Pierre Merlet, Julien Alexandre dit Sandretto.

The project CoGiRo, "Control of Giant Robots", deals with parallel cable-driven robots with very large workspaces and possibly heavy to very heavy payloads. This project, which began in February 2010, is funded by the French National Research Agency (ANR - Agence Nationale de la Recherche). Despite a great application potential, very large parallel cable robots have rarely been studied and even more rarely build. The main goal of the project CoGiRo is to propose and validate innovative methodologies and means to control, calibrate and design parallel cable-driven robots with very large workspaces. A prototype of a large parallel cable robot will be built. This prototype will serve as a demonstrator and will enable the experimental validation of the results obtained during the project. The partners of the project are:

• LIRMM - DEXTER project team

• INRIA Sophia Antipolis - Méditerranée - COPRIN project team

• LASMEA - ROSACE

• Tecnalia France

ID4CS project

Participant : Yves Papegay.

The ID4CS project, supported by French National Research Agency (ANR) through COSINUS program has the ambition to propose a modeling and simulation environment for designing complex systems such as aircrafts, based on a self-adaptive, distributed and open multi-agent architecture distributing the optimization process inside the agents.

As a partner of the project we are mainly involved in the definition of the use case on preliminary aircraft design, in collaboration with Airbus ( 6.3.2 ), in development of uncertainty analysis algorithms, and in automatic generation of agents based on models.

ANR SIROPA project

Participants : David Daney, Jean-Pierre Merlet [correspondant] , Yves Papegay.

The ANR funded SIROPA project(https://twiki-sop.inria.fr/twiki/bin/view/Projets/Coprin/SIROPA ) whose objectives was a better understanding of the singularities of parallel robots has been concluded this year [24] . The partners of this project were:

• IRCCYN Nantes

• University Rennes 1

• Nantes University (LINA)

• project teams SALSA (INRIA Rocquencourt) and COPRIN

Several interesting results regarding singularities of less than 6 degree-of-freedom and wire-drive parallel robots were obtained and were validated experimentally. This project has been concluded by an October school attended by 15 european students.

Large scale initiative PAL

COPRIN has played an important role for the creation of the INRIA large scale initiative Personnal Assistant Living (PAL), devoted to the assistance to elderly and handicaped people. Our work in this field is described in the sections  6.1.5 , 6.1.4 , 6.1.2 .