Simulation graphique d'un robot bipède dans un environnement structuré

Laure France 1
1 iMAGIS - Models, Algorithms and Geometry for Computer Generated Image Graphics
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes
Abstract : In this thesis, we deal with the design and implementation of a simulator for an anthropomorphic biped robot in an environment. Such simulators are important for validating robotics controls developed for real biped robots. We model a biped robot and animate it with walking cycles provided by motion capture. We complete these walking cycles by computing transient motions for the start and the stop of the robot. For this purpose, we use a method based on cubic polynomial interpolation, which respects constraints related to robot foot motions (coherence of the motion and non penetration in the ground). We thus obtain complete motion for our robot in its environment. We assume that the environment is unknown to the robot and simulate proximity sensors to allow the robot to perceive its environment. These sensors give the distance between the robot and local objects. This local perception is used for obstacle detection and collision avoidance. The robot must also modify its behavior according to the environment. For instance, when it encounters stairs, the robot has to climb or descend the stairs. We must then provide it with simple object recognition. We compute the perceived environment profile from the distances detected by the sensors, and develop an object recognition algorithm based on this profile. Once these functions of walking, perception and recognition are provided to the robot, we study the placement of the sensors on the robot, in order to determine the best configuration that minimizes the number of sensors and maximizes object detection. We finally realize an entire simulation of the biped robot that walks in an environment, and whose walking motion adapts to this environment based on its sensor feedback.
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Laure France. Simulation graphique d'un robot bipède dans un environnement structuré. Modélisation et simulation. Université Joseph-Fourier - Grenoble I, 1999. Français. ⟨tel-00004831⟩

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