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Theses

Identification et contrôle des systèmes non linéaires : application aux robots humanoïdes

Abstract : The research work in this thesis deals with both nonlinear system identification and anthropomorphic motion optimization. Firstly, we consider the identification of three systems that are: linear systems in multiple experiments case, finite degree Volterra series with infinite horizon and quadratic in-the-state systems. Thus we propose novel and efficient identification methods. Secondly, we apply the system identification techniques to synthesize and to model human locomotion. Besides, we address the optimization of humanoid robot motions, the imitation of human captured motions by a humanoid robot and finally the time parameterization of humanoid robot paths in the configuration space. The experimental validation of our proposed methods on the humanoid platform HRP-2 has pointed out that they not only outperform the conventional methods, but also provide a unified framework to control humanoid robots.
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https://tel.archives-ouvertes.fr/tel-00340914
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Submitted on : Monday, November 24, 2008 - 8:49:09 AM
Last modification on : Friday, January 10, 2020 - 9:08:08 PM
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  • HAL Id : tel-00340914, version 1

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Wael Suleiman. Identification et contrôle des systèmes non linéaires : application aux robots humanoïdes. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2008. Français. ⟨tel-00340914⟩

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