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Towards abstraction-based control of a bipedal robot: modelling of a 5-link planar bipedal robot

Deligne, Simon
(2024)

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Details

Supervisors
Raphaël Jungers
Faculty
Ecole polytechnique de Louvain
Degree label
Master [120] : ingénieur civil électromécanicien, à finalité spécialisée: mécatronique
Abstract
The increasing complexity of modern Cyber-Physical Systems (CPS) necessitates advanced control techniques. Abstraction-based control, a promising approach, involves discretizing the continuous state space of a system into a finite abstraction, synthesizing a controller on this abstraction, and then applying it back to the original system. The Dionysos.jl framework emerges as a tool to address the scalability challenges of abstraction-based control by implementing "smart" abstractions that leverage non-uniform cell shapes and local feedback controllers. To demonstrate and validate the effectiveness of these techniques, a bipedal robot serves as an ideal testbed due to the inherent complexity of achieving stable locomotion. This thesis focuses on identifying a model of the bipedal robot and implementing it in Julia for integration with Dionysos. The model, based on the Euler-Lagrange formalism, incorporates physical parameters and actuator characteristics.

Citations

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Deligne, S. (2024). Towards abstraction-based control of a bipedal robot: modelling of a 5-link planar bipedal robot. https://dial-mem.test.bib.ucl.ac.be/handle/2078.2/37882