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Quelques contributions à la commande non linéaire des robots marcheurs bipèdes sous-actionnés

Abstract : This work deals with dynamic walking control of under-actuated biped robots. Two contributions
are introduced. The first control approach is a low dimensional nonlinear predictive control.
Basically this approach uses the concept of partial feedback linearization to split up the state vector
into a sub-vector of completely linearized coordinates and internal dynamics. Then, optimal reference
trajectories on the linearized coordinates are used to stabilize the internal dynamics of the system.
These trajectories aim at reproducing some desired configuration in order to hit periodically the impact
surface. The stability issue is discussed using a graphical tool, based on the Poincaré section.
The second approach is a lyapunov based control. The proposed strategy is based upon singling out
the three fundamental phases of motion of a biped : single support, impact and double support. Then,
the aim is to propose control laws for the whole walking cycle. For this, the dynamic models of the
biped on the different phases are computed. To control the robot on the whole walking cycle, the
proposed control laws are inspired from hybrid position/force control.
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https://theses.hal.science/tel-00168406
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Submitted on : Tuesday, August 28, 2007 - 9:53:49 AM
Last modification on : Friday, March 25, 2022 - 11:09:08 AM
Long-term archiving on: : Friday, April 9, 2010 - 1:14:07 AM

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  • HAL Id : tel-00168406, version 1

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Ahmed Chemori. Quelques contributions à la commande non linéaire des robots marcheurs bipèdes sous-actionnés. Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2005. Français. ⟨NNT : ⟩. ⟨tel-00168406⟩

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