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Theses

Self-stabilization of 3D Walking of a Biped Robot

Abstract : Humanoid robot, which can walk by two legs and perform skillful tasks using both arms with hands, could be considered as one of the ultimate robots. However, bipedal walking remains a complex phenomenon that has not been fully understood. The thesis is dedicated to find some physical insights that can explain the stability of periodic walking on horizontal floor. In human walking, the gait is usually expressed as a function of a phasing variable based on the internal state instead of time. The controlled variables (swing foot trajectories, vertical oscillation of center of mass, upper body motion,etc.)oftherobotsarebasedonaphasingvariable via the use of virtual constraints and the step timing is not explicitly imposed but implicitly adapted under disturbances. Firstly, simplified models of the robot: the linear inverted pendulum (LIP) model and variable length inverted pendulum (VLIP) model are used to study control strategies. The proposed control strategy for the LIP and VLIP models is extended through the proposed essential model to control a complete humanoid model. The walking algorithm proposed above is applied on the humanoid robots Romeo and TALOS.
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https://tel.archives-ouvertes.fr/tel-03178308
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Submitted on : Tuesday, March 23, 2021 - 4:52:08 PM
Last modification on : Wednesday, April 7, 2021 - 3:09:08 PM

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  • HAL Id : tel-03178308, version 1

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Qiuyue Luo. Self-stabilization of 3D Walking of a Biped Robot. Robotics [cs.RO]. École centrale de Nantes, 2020. English. ⟨NNT : 2020ECDN0010⟩. ⟨tel-03178308⟩

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