Locomotion robotique

La locomotion robotique est le nom collectif des différentes méthodes que les robots utilisent pour se déplacer d'un endroit à l'autre. Les robots à roues sont généralement assez efficaces sur le plan énergétique et simples à contrôler. Toutefois, d'autres formes de locomotion peuvent être plus appropriées pour un certain nombre de raisons, par exemple pour traverser un terrain accidenté, ainsi que pour se déplacer et interagir dans des environnements humains. En outre, l'étude des robots bipèdes et des robots ressemblant à des insectes peut avoir un impact bénéfique sur la biomécanique. Un objectif majeur dans ce domaine est de développer les capacités des robots à décider de manière autonome comment, quand et où se déplacer. Cependant, il est difficile de coordonner de nombreuses articulations de robots, même pour des questions simples, comme la négociation des escaliers. La locomotion autonome des robots est un obstacle technologique majeur pour de nombreux domaines de la robotiq

À propos de ce résultat

Cette page est générée automatiquement et peut contenir des informations qui ne sont pas correctes, complètes, à jour ou pertinentes par rapport à votre recherche. Il en va de même pour toutes les autres pages de ce site. Veillez à vérifier les informations auprès des sources officielles de l'EPFL.

Publications associées (52)

Publications associées

Chargement

Personnes associées (12)

Personnes associées

Chargement

Unités associées (5)

Unités associées

Chargement

Concepts associés (5)

Concepts associés

Chargement

Cours associés (2)

Cours associés

Chargement

Séances de cours associées

Chargement

Terrestrial locomotion

Terrestrial locomotion has evolved as animals adapted from aquatic to terrestrial environments. Locomotion on land raises different problems than that in water, with reduced friction being replaced b

Legged robot

Legged robots are a type of mobile robot which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terra

Planification de mouvement

La planification de mouvement (en anglais motion planning) est un ensemble de techniques mathématiques et informatiques permettant de calculer des trajectoires pour un système cinématique, avec pour

MICRO-452: Basics of mobile robotics

The course teaches the basics of autonomous mobile robots. Both hardware (energy, locomotion, sensors) and software (signal processing, control, localization, trajectory planning, high-level control) will be tackled. The students will apply the knowledge to program and control a real mobile robot.

MICRO-453: Robotics practicals

The goal of this lab series is to practice the various theoretical frameworks acquired in the courses on a variety of robots, ranging from industrial robots to autonomous mobile robots, to robotic devices, all the way to interactive robots.

Introduction to discrete modelling : Modelling slithering locomotion

Meriton Beqiraj

The study of animal locomotion is vast since animals have various shapes and modes of locomotion. It finds multiple applications especially in robotics. In this report, the focus will be put on snake locomotion. However snakes still have various techniques for moving their bodies such as unilateral contraction/extension of their belly, accordion-like, side-winding or lateral undulation of the body. This report will focus on the last gait mentioned. Studies have already shown how snakes move around push points and applications to wheeled-snake robots have been made. However in some cases snakes may have to move their body over flat surfaces without any rocks or branches to push on. From that observation, the need for a new model considering frictional anisotropy is raised. A mathematical model for slithering locomotion based on frictional anisotropy with all the assumptions implied will firstly be addressed. Then some elements of the work will be kept and focus particularly on the friction force will be put in order to get a better understanding of its need and origin through two models. To conclude, the anisotropy will be seen in the context of biotribology.

2018

Chargement

Legged robot locomotion based on free vibration

Nitesh Maheshwari

Behavioral performances of our legged robots are still far behind those of biological systems. Energy efficiency and locomotion velocity of our robots, for example, are orders of magnitude lower than those of animals, and in order to fill the gap, it requires a radically new approach in the design and control processes. From this perspective, we have been exploring a novel approach to design and control of legged robots which makes use of free vibration of elastic curved beams. We found that this approach not only simplifies the design and manufacturing processes of locomotion robots, but also substantially improves their energy efficiency, which is comparable to those of animals. In this paper, we explain the novelty and principles of this approach through the four representative case studies that we have been exploring, and discuss challenges and perspectives toward the future. © 2012 IEEE.

2012

Chargement

A Novel Mechanism for Varying Stiffness Via Changing Transmission Angle

Lijin Aryananda, Rolf Pfeifer

Compliant actuation contributes enormously in legged locomotion robotics since it is able to alleviate control efforts in improving the robot’s adaptability and energy efficiency. In this paper, we present a novel design of a variable stiffness rotary actuator, called MESTRAN, which was especially targeted to address the limitations in terms of the amount of energy and time required to vary the stiffness of an actuated joint. We have constructed a mechanical model in simulation and a physical prototype. We conducted a series of experiments to validate the performance of the MESTRAN actuator prototype. The results from the simulation and experiments show that MESTRAN allows independent control of stiffness and position of an actuated rotary joint with a large operational range and high speed. The torque-displacement relationship is close to linear. Lastly, the MESTRAN actuator is energy-efficient since a certain stiffness level is maintained without energy input.

2011

Chargement