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ÉDITIONS UNIVERSITAIRES EUROPÉENNES Etude sur la marche de robots bipèdes anthropomorphes: Modélisation, commande, simulation et expérimentation (Omn.Univ.Europ.)

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£74.00 £70.30 £71.78 £73.26 £74.74 £76.22 £77.70 25 July 2026 09 August 2026 24 August 2026 08 September 2026 23 September 2026
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Description
Malgré le grand nombre de robots humanoïdes existants, trois verrous scientifiques majeurs subsistent: l'autonomie décisionnelle, l'autonomie énergétique et la marche dynamique agile. La thèse présentée dans ce livre se focalise sur ce dernier point. La première partie détaille la génération d’une marche statique tridimensionnelle commandée à partir des modèles géométriques inverses analytiques et en utilisant des orteils actifs. Puis, dans l’objectif de générer une marche dynamique tridimensionnelle, les mouvements ont été étudiés séparément dans les plans frontal et sagittal, en adaptant énergétiquement le placement du pied et la force de propulsion par la jambe arrière. La généralisation des principes étudiés a ensuite abouti à des simulations de franchissement dynamique d'obstacles. Nos techniques de commande géométrique et de contrôle énergétique ont alors été implémentées pour la marche dynamique tridimensionnelle. Finalement, des expérimentations de marches sur le prototype ROBIAN sont décrites et leurs résultats présentés. Cette thèse s'adresse principalement aux étudiants, doctorants, ingénieurs et chercheurs confrontés à la complexité de la marche des robots bipèdes.

Product Specifications
Brand
ÉDITIONS UNIVERSITAIRES EUROPÉENNES
Format
paperback
ASIN
3841787266
Category
Books > Subjects > Biography > Historical > Countries & Regions > France
Domain
Amazon UK
Release Date
05 January 2012
Listed Since
09 January 2012

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