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Theses

Dynamique optimale de systèmes articulés à cinématique fermée. Application à la synthèse d'allures de marche optimales

Abstract : This thesis is focused on dynamic optimization of movements of planar multibody systems working as a closed kinematic loop. The main application consists in generating optimal gait cycles of biped robots. The first part is devoted to the development of dynamic models of closed-loop multibody systems adapted to the statment of dynamic optimization problems to be solved using Pontryagin’s maximum principle. This optimization problem is dealt with in the second part. The approach we used consists in opening the closed loop at appropriate cut joint and dealing with the interaction forces as complementary control variables. In this way, the closure condition is considered as a constraint of the optimization problem and is dealt with using a penalty method. The third part contains numerical simulations related to over-actuated planar mechanisms like parallel robots and results concerning gait cycle optimization of planar bipeds with 2-link and 3-link legs.
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Theses
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https://tel.archives-ouvertes.fr/tel-00001867
Contributor : Chessé Stéphane <>
Submitted on : Thursday, October 24, 2002 - 11:18:53 AM
Last modification on : Friday, October 23, 2020 - 4:59:20 PM
Long-term archiving on: : Friday, April 2, 2010 - 6:16:26 PM

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  • HAL Id : tel-00001867, version 1

Citation

Stéphane Chessé. Dynamique optimale de systèmes articulés à cinématique fermée. Application à la synthèse d'allures de marche optimales. Modélisation et simulation. Université de Poitiers, 2002. Français. ⟨tel-00001867⟩

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