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Contribution à la commande temps réel des robots marcheurs. Application aux stratégies d'évitement des chutes

Abstract : Big walking robots are complex multi-joints mechanical systems which crystallize the human will to confer their capabilities on artefacts, one of them being the bipedal locomotion and more especially the balance keeping against external disturbances. This thesis proposes a balance stabilizer under operating conditions displayed on the locomotor system BIP 2000.This anthropomorphic robot has got fifteen electrically actuated degree of freedom and an Industrial controller. A new software has been developed with an object-oriented programming approach in order to propose the modularity required by the emulated and natural human symmetry. This consideration leads to the development of a mathematical tool allowing the computation of every modelling of a serial robot which is the sum of multiple sub robots with already known modelling. The implemented software also enables the robot to run offline generated dynamic walking trajectories and to test the balance stabilizer.We explore in this thesis the feasibility of controlling the center of gravity of a multibody robotic system with electrostatic fields acting on its virtual counterpart in order to guarantee its balance. Experimental results confirm the potential of the proposed approach.
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https://tel.archives-ouvertes.fr/tel-02077091
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Submitted on : Friday, March 22, 2019 - 4:07:09 PM
Last modification on : Monday, October 12, 2020 - 3:08:09 PM
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  • HAL Id : tel-02077091, version 1

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Jérémy Gastebois. Contribution à la commande temps réel des robots marcheurs. Application aux stratégies d'évitement des chutes. Automatique / Robotique. Université de Poitiers, 2017. Français. ⟨NNT : 2017POIT2315⟩. ⟨tel-02077091⟩

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