Optimisation numérique pour la robotique et exécution de trajectoires référencées capteurs

Thomas Moulard 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : The presented work is divided into two parts. In the first one, an unified computer representation for numerical optimization problems is proposed. This model allows to define problems independently from the algorithm used to solve it. This unified model is particularly interesting in robotics where exact solutions are difficult to find. The second part is dealing with complex trajectory execution on humanoid robots with sensor feedback. When a biped robots walks, contact points often slip producing a drift which is necessary to compensate. We propose here a closed-loop control scheme allowing the use of sensor feedback to cancel execution errors. To finish, a method for the the development of complex robotics application is detailed. This thesis contributions have been implemented on the HRP-2 humanoid robot.
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https://tel.archives-ouvertes.fr/tel-00738999
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Submitted on : Tuesday, June 19, 2018 - 10:03:21 AM
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Thomas Moulard. Optimisation numérique pour la robotique et exécution de trajectoires référencées capteurs. Robotique [cs.RO]. Institut National Polytechnique de Toulouse - INPT, 2012. Français. ⟨tel-00738999⟩

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