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Contrôle optimal informatique d'un robot bipède
Paperback
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ISBN10: 6208036518
ISBN13: 9786208036515
Publisher: Editions Notre Savoir
Published: Aug 31 2024
Pages: 60
Weight: 0.22
Height: 0.14 Width: 6.00 Depth: 9.00
Language: French
ISBN13: 9786208036515
Publisher: Editions Notre Savoir
Published: Aug 31 2024
Pages: 60
Weight: 0.22
Height: 0.14 Width: 6.00 Depth: 9.00
Language: French
Les robots bipèdes font l'objet de recherches depuis des décennies, dans le but d'aider ou de remplacer les humains dans des tâches spécifiques. L'étude de ces robots est essentielle pour comprendre la locomotion humaine et améliorer les stratégies de contrôle des prothèses et des orthèses. Toutefois, les problèmes de conception sont les suivants (1) l'instabilité due aux articulations passives lors du contact unique entre le pied et le sol; (2) les variations de configuration lors de la transition entre les phases de marche - sous-actionnée lors d'un appui simple et sur-actionnée lors d'un appui double; (3) les multiples degrés de liberté (DOF); et (4) l'interaction avec des environnements inconnus. Ce travail porte sur les stratégies de contrôle optimal hors ligne pour les robots bipèdes basés sur le point de moment zéro (ZMP). En appliquant le contrôle optimal computationnel, nous examinons l'impact des contraintes sur la locomotion, telles que le maintien du pied pivotant parallèle au sol et le maintien du mouvement de la hanche à une hauteur constante. Une méthode de différence finie traduit le problème de contrôle optimal à dimension infinie en un problème sous-optimal à dimension finie, suivi d'une optimisation des paramètres pour dériver des trajectoires sous-optimales sous diverses contraintes.
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