Stabilité et Propulsion des Robots Marcheurs

Contribution à la commande de robots marcheurs bipèdes. (Walking control of biped robots)

Design Control and Energy Minimization Strategies for the ARL Monopod

We have built a planar one-legged robot (the ARL Monopod) to study the design, control and energetics of autonomous dynamically stable legged machines. Our 15kg robot is actuated by two low power 80W DC electric motors, yet it operates in a stable and robust fashion up to a running speed of 4:3km=hr (1:2m=s). Both design and control of our machine borrow heavily from Raibert's work whose robots...

Analytical Criterions for the Generation of Highly Dynamic Gaits for Humanoid Robots: Dynamic Propulsion Criterion and Dynamic Propulsion Potential

Many studies have been made to develop walking anthropomorphic robots able to move in environments well-adapted to human beings and able to cooperate with them. Among the more advanced projects of humanoid robots, one can mention : the Honda robots P2, P3 (Hirai, 1997) (Hirai et al., 1998) and Asimo (Sakagami et al., 2002), the HRP series developed by AIST (Kaneko et al., 1998) (Kajita et al., ...

Robotique Collective: Implémentation d'un Comportement d'Agrégation Stratégique Inspiré de Comportement des Cafards

Résumé. L’exploration et l’exploitation collectives d’un environnement inconnu par un ensemble de robots font partie des applications parmi les plus populaires en Intelligence Artificielle Distribuée .De nombreux modèles ont été développés pour trouver des règles simples permettant à des robots d’exploiter leur environnement pour des tâches d’agrégation ou bien d’exploration et collecte. La mét...

Trajectory tracking for unicycle-type and two-steering-wheels mobile robots

Through two diierent approaches, this report proposes two general controllers for unicycle-type and two-steering-wheels mobile robots. For both systems, conditions for asymptotical convergence to a predeened path are established and simulation results are presented. Rather than writing the systems' equations with respect to a xed reference frame, the robot state is here parametrized relative to...