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Commande de chute pour robots humanoïdes par reconfiguration posturale et compliance adaptative

Abstract : This thesis deals with the problem of humanoid falling with a decoupled strategy consisting of a pre-impactand a post-impact stages. In the pre-impact stage, geometrical reasoning allows the robot to choose appropriateimpact points in the surrounding environment –that can be unstructured and may contain cluttered obstacles,and to adopt a posture to reach them while avoiding impact singularities and preparing for the post-impact. Thepost-impact stage uses a quadratic program controller that adapts on-line the joint proportional-derivative (PD)gains to make the robot compliant, i.e. to absorb post-impact dynamics, which lowers possible damage risks.We propose a new approach incorporating the stiffness and damping gains directly as decision variables in theQP along with the usually-considered variables that are the joint accelerations and contact forces. By doing so,various constraints can be added to the QP. Finally, since the gain adaptation is local, we added a preview ona time-horizon for more optimal gain adaptation based on model reduction. At each step of the development,several experiments on the humanoid robot HRP-4 in a full-dynamics simulator are presented and discussed.
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Submitted on : Friday, November 30, 2018 - 12:26:07 PM
Last modification on : Tuesday, September 8, 2020 - 5:22:38 AM
Long-term archiving on: : Friday, March 1, 2019 - 1:55:25 PM


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  • HAL Id : tel-01940541, version 1



Vincent Samy. Commande de chute pour robots humanoïdes par reconfiguration posturale et compliance adaptative. Automatique / Robotique. Université Montpellier, 2017. Français. ⟨NNT : 2017MONTS059⟩. ⟨tel-01940541⟩



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