Conception et validation expérimentale de manœuvres inspirées du réflexe de redressement du chat pour la réorientation d'un robot articulé en chute libre
|Abstract:||This Master’s thesis introduces two distinct manoeuvres allowing a free-floating robot to reorient itself using its internal movements only, like the cat-righting reflex. The principal interest of these manoeuvres lies in the fact that they achieve this reorientation even though they are represented by closed loops in the joint space of the robot. The manoeuvres can be executed in sequence, with varying amplitude, in order to reach any orientation in three-dimensional space. Their dynamics are explored through numerical simulation in order to find favourable parameters. Reorientation examples are presented in simulation with a robot model composed of four links and three rotary actuators. Finally, a practical prototype is built from this model and the simulation results are experimentally validated using a drop tower and a motion capture system.|
|Document Type:||Mémoire de maîtrise|
|Open Access Date:||30 September 2019|
|Collection:||Thèses et mémoires|
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