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Étude théorique et expérimentale d'architectures innovantes de robots inspirées du cou des oiseaux : conception et commande

Abstract : Biological systems are a great source of inspiration for roboticists. Tensegrity systems, composed of rigidand tensile elements, are particularly suitable for bio-inspiration since these systems are found directly in various biological systems. In this thesis, we study a manipulator inspired by the neck of birds. This manipulator is a stack of modules that each have one degree of freedom. Each module is a tensegrity mechanism composed of four bars and two springs. The manipulator is operated by cables, so all the motors are located at its base. The geometric model and the dynamic model of the manipulator are developed, then an analysis of the actuation and the static workspace of the manipulator is conducted. An actuation with four cables is selected for a prototype composed of three modules This prototype has no direct measurement of the modules orientations, so two methods to calculate these orientations according to the motor positions are proposed. An identification of the motor friction and the elasticity of the cables is carried out in order to improve the performances of the prototype control, and to have an effective simulator. Three controls are developed and tested on the prototype: a joint control, a control in the space of the motors and a control in the operational area. Trajectories are then optimized in order to produce movements by minimizing the applied forces or to produce high speed movements, as the woodpecker can do when it hits a tree trunk with its beak. The thesis ends with an opening towards an underactuated manipulator made of about ten modules.
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Submitted on : Tuesday, May 17, 2022 - 2:31:49 PM
Last modification on : Thursday, May 19, 2022 - 3:18:55 AM


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  • HAL Id : tel-03670418, version 1


Benjamin Fasquelle. Étude théorique et expérimentale d'architectures innovantes de robots inspirées du cou des oiseaux : conception et commande. Automatique / Robotique. École centrale de Nantes, 2021. Français. ⟨NNT : 2021ECDN0051⟩. ⟨tel-03670418⟩



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