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Robot Humanoïde Hydroïd by Alfayad-S

Robot Humanoïde Hydroïd

by Alfayad-S
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₹6,478.00
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Book cover type: Paperback
  • ISBN13: 9783841783455
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Omniscriptum
  • Publisher Imprint: Omniscriptum
  • Publication Date:
  • Pages: 176
  • Original Price: GBP 51.0
  • Language: French
  • Edition: N/A
  • Item Weight: 268 grams
  • BISAC Subject(s): General

Ce travail vise à contribuer à améliorer notre compréhension des phénomènes de la locomotion et la manipulation chez l'humain en proposant la construction d'un robot humanoïde complet. Pour relever ce défi majeur, le travail réalisé a porté sur trois axes de recherche. Le premier a concerné la définition de la structure du robot humanoïde HYDROïD. Tout d'abord, un pied actif a été justifié puis conçu et proposé. Deux nouveaux mécanismes hybrides innovants composés chacun d'un vérin rotatif portant une structure parallèle à deux ddl actifs ont été également justifiés et proposés. La deuxième partie du travail réalisé s'est intéressée à l'actionnement du robot HYDROïD. Un nouvel actionneur hautement intégré a été proposé. Grâce à l'utilisation de l'énergie hydraulique, la capacité de cet actionneur à produire des mouvements souples et pouvant générer une grande force a été démontrée. En fin et pour contrôler la vitesse globale d'avancement du robot, une nouvelle stratégie de contrôle prédictive a été proposée. Cette stratégie est basée sur le bilan énergétique "moyen" entre deux pas successifs. Une conclusion et des perspectives sont finalement données.

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