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

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

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La conception des robots humanoïdes est un défi depuis plusieurs années. Les articulations de l'être humain de par leur complexité cinématique créent des mouvements difficilement reproductibles par un mécanisme. Le genou humain permet des mouvements composés de roulement et de glissement. La co...

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Bibliographic Details
Main Author:	Hobon, Mathieu
Other Authors:	Paris, ENSAM
Language:	fr
Published:	2012
Subjects:	Robot bipède Marche bipède Trajectoires optimales Modélisation géométrique et dynamique Optimisation paramétrique Genou à contact roulant Biped robot Gait Optimal trajectoies Dynamics Rolling knees
Online Access:	http://www.theses.fr/2012ENAM0057/document

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