Modélisation et commande d'un robot marcheur anthropomorphe

Abstract

Walking robots exhibit a structural instability, due to dynamical constraints which strongly narrow the range of movements that they can achieve.<br />We begin therefore by proposing a formulation of the dynamics of walking robots, which unveils the specific structure of these constraints, stressing especially the importance of the supports on the ground. Relying then on the notion of viability, we develop an original point of view about the balance of walking robots, leading to the design of a completely new control law, which continuously evaluates, within a set of known movements, which ones the robot is able to realize in view of its dynamical state.<br />Some experiments and software developments are also tackled around the BIP robot, an anthropomorphic robot having 15 actuated joints.