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Modélisation et optimisation de la marche d'un robot bipède avec genoux anthropomorphiques

Abstract : The design of humanoids robot has been a tricky challenge for several years. Due to the kinematic complexity of human joints, their movements are notoriously difficult to be reproduced by a mechanism. The human knees allow movements including rolling and sliding, and therefore the design of new bio-inspired robots is of utmost importance for the reproduction of anthropomorphic walking in a robot. In this thesis, the kinematic characteristics of knees were analyzed and a mechanical solution reproducing them is proposed. The geometrical, kinematic and dynamic models are created together with an impact model for a piped robot with the knees proposed. The walking is studied as of a problem of parametric optimization under constraints. The trajectories of walking are simulated approximately by mathematical functions for two gaits: one of a single support with impacts and one of double supports followed by a simple support and then an impact. Energy criteria allow comparing the robot provided with the mechanism of rolling knees and a robot provided with revolute knees connection. The results of the optimizations show that the rolling knee brings a decrease of the sthenic criterion. The energy optimization shows that the articular couples are weaker on hips what engenders a decrease of the mass of the actuators of the robot. Finally, energy gains are possible by associating spring systems.
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https://pastel.archives-ouvertes.fr/pastel-00832164
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Submitted on : Monday, June 10, 2013 - 11:38:11 AM
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  • HAL Id : pastel-00832164, version 1

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Mathieu Hobon. Modélisation et optimisation de la marche d'un robot bipède avec genoux anthropomorphiques. Autre. Ecole nationale supérieure d'arts et métiers - ENSAM, 2012. Français. ⟨NNT : 2012ENAM0057⟩. ⟨pastel-00832164⟩

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