[PDF] Top 20 Contribution to the Control of Biped Robots

... applied the HZD method, starting from the experimental reports in [127], to design walking trajectories for a real planar biped robot with point feet, called robot ...that the obtained ... Voir le document complet

... space. The results of stability analysis show that the walking is stable using the method of virtual ...However, the parameterized reference trajectory is not usual in robotics, ... Voir le document complet

... [Pen07]: the redundant coordinates-based techniques which are used mainly in commercial software such as MSC ADAMS, and the minimum coordinates-based techniques which could be, to some extent, ... Voir le document complet

... Mots-clés: Robots mobiles unicycle, Planification de trajectoires, Suivi de trajectoires, Évitement d’obstacles, Fenêtre dynamique, Commande floue, Commande linéaire quadratique, Algorithme de colonies de ... Voir le document complet

... Title Contribution to accuracy improvement of parallel ...Abstract The work of this thesis contributes to solve one of the actual issues of research on ... Voir le document complet

... Motivation Robots have been a reality on factory assembly lines for over twenty ...in the field of robotics transforms the global economy for past few years, cutting the costs of ... Voir le document complet

... Evolution of F 2 (N ) = (α−1)d eN −i r when α goes from 0 to ...Evolution of F 2 (N ) = (α eN−i −1)d r when d r goes from 0 to + ...method of determination of equilibrium points ... Voir le document complet

... For the fusion block “Σ 1 ”, we have note that when mini- robots push the box at the same time, their trajectories go inevitably intersect ...because the mini-robots tend always ... Voir le document complet

... 3D biped with a pelvis, a torso, and one-link arms but without feet (with point ...feet). The contribution of this paper is to solve for this biped a boundary value problem ... Voir le document complet

... part of this thesis focuses on the control of humanoid robots in the context of ...paradigms of interaction: interaction be- tween two remote human partners through ... Voir le document complet

... between the feet and the ground. The unilateral nature [ 1 ] of this interaction (the feet can only push on the ground) limits the motion that a legged robot can realize ... Voir le document complet

... The notion of a kinemati element is then fully formalized in ...model of a kinemati element was given. The proposed method gives a linear dynami modeling of parallel robot from ... Voir le document complet

... when the focal task is attention demanding, noise or other mechanical (non-social) sources of distraction can induce a conflict between paying attention to the focal task versus the ... Voir le document complet

... guarantee the convergence of x e , y e , θ e to the origin, nor ensure the existence of a minimum amount of time between two transmission in- stants under Assumption ... Voir le document complet

... Commande sous les hypothèses de roulement pur sans glissement A la section 2.1, lorsque nous avions discuté nos hypothèses de modélisation, nous avions affirmé (page 13) que l'Hypothèse [r] ... Voir le document complet

... Les types de collisions auxquels est sujet un robot sont nombreux, comme avec les éventuels obstacles dans l’espace de travail, ou entre les différentes parties mobiles du robot ; et c’es[r] ... Voir le document complet

... from the direct action of turgor pressure like in unlignified organs, but is the consequence of the interaction between wood radial pressure and a smartly organized trellis structure in ... Voir le document complet

... purposes. The given analysis will also be helpful to understand how to calculate the nontrivial input matrix which ap- pears multiplying the vector of applied torques in ... Voir le document complet

... Current control and planning algorithms are largely unsuitable for mobile robots in unstructured field environment due to uncertainties in the environment, task, robot [r] ... Voir le document complet

... of radius 0.2 mm). The calibration process is manual and labour intensive, but takes less than an hour to ...importantly, the cost of the 6D measurement device is less than ... Voir le document complet