Identification des paramètres dynamiques d’un robot humanoïde

Details

Supervisors

Ronsse, Renaud

Faculty

Ecole polytechnique de Louvain

Degree label

Master [120] : ingénieur civil mécanicien

Abstract

enFor several decades, the robotics industry has been growing steadily. Now, robots occupy a prominent place in a very large number of activities, whether industrial (manipulator arms) or daily (household robots). In parallel with these different types of robots, another class of robots has been the subject of numerous scientific researches lately: humanoid robots. The advantage of these robots is to be able to replace or assist the man in daily or dangerous tasks. By its design, it nevertheless involves problems that manipulator robots are not subject to, such as stability during its movements and the much higher number of bodies and degrees of freedom to be controlled. Humanoid robots respond to the equations of the dynamics of multi-body systems. The control of these robots is done by using these dynamic equations. These equations depend on different parameters, such as the mass and the center of mass of the robot’s bodies. A precise knowledge of these parameters is crucial to obtain a precise dynamic model. The measurement of these parameters is unrealistic because of the complexity of most of the robots. Experimental identification is the only effective method to overcome the lack of information coming from manufacturers. The objective of this thesis is therefore to identify the dynamic parameters of a humanoid robot. This thesis will try to answer these different questions: - how to automate the process of parameters identification for different multibody systems? - is it possible to improve the identification of the parameters based on different movements imposed to the robot? - what is the effect of the noise on the identification?

Citations

• APA

D’Hondt, F. (2017). Identification des paramètres dynamiques d’un robot humanoïde.