Literatura científica selecionada sobre o tema "Optimisation des mouvements du corps complet"
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Artigos de revistas sobre o assunto "Optimisation des mouvements du corps complet"
Fougeyrollas, Patrick. "Handicap". Anthropen, 2016. http://dx.doi.org/10.17184/eac.anthropen.013.
Texto completo da fonteTeses / dissertações sobre o assunto "Optimisation des mouvements du corps complet"
Chrétien, Benjamin. "Optimisation semi-infinie sur GPU pour le contrôle corps-complet de robots". Thesis, Montpellier, 2016. http://www.theses.fr/2016MONTT315/document.
Texto completo da fonteA humanoid robot is a complex system with numerous degrees of freedom, whose behavior is subject to the nonlinear equations of motion. As a result, planning its motion is a difficult task from a computational perspective.In this thesis, we aim at developing a method that can leverage the computing power of GPUs in the context of optimization-based whole-body motion planning. We first exhibit the properties of the optimization problem, and show that several avenues can be exploited in the context of parallel computing. Then, we present our approach of the dynamics computation, suitable for highly-parallel processing architectures. Next, we propose a many-core GPU implementation of the motion planning problem. Our approach computes the constraints and their gradients in parallel, and feeds the result to a nonlinear optimization solver running on the CPU. Because each constraint and its gradient can be evaluated independently for each time interval, we end up with a highly parallelizable problem that can take advantage of GPUs. We also propose a new parametrization of contact forces adapted to our optimization problem. Finally, we investigate the extension of our work to model predictive control
Saab, Layale. "Génération de mouvements corps-complet sous contraintes pour des systèmes dynamiques anthropomorphes". Phd thesis, Université Paul Sabatier - Toulouse III, 2011. http://tel.archives-ouvertes.fr/tel-00667668.
Texto completo da fonteSaab, Layale. "Generating whole body movements for dynamics anthropomorphic systems under constraints". Toulouse 3, 2011. http://thesesups.ups-tlse.fr/1447/.
Texto completo da fonteThis thesis studies the question of whole body motion generation for anthropomorphic systems. Within this work, the problem of modeling and control is considered by addressing the difficult issue of generating human-like motion. First, a dynamic model of the humanoid robot HRP-2 is elaborated based on the recursive Newton-Euler algorithm for spatial vectors. A new dynamic control scheme is then developed adopting a cascade of quadratic programs (QP) optimizing the cost functions and computing the torque control while satisfying equality and inequality constraints. The cascade of the quadratic programs is defined by a stack of tasks associated to a priority order. Next, we propose a unified formulation of the planar contact constraints, and we demonstrate that the proposed method allows taking into account multiple non coplanar contacts and generalizes the common ZMP constraint when only the feet are in contact with the ground. Then, we link the algorithms of motion generation resulting from robotics to the human motion capture tools by developing an original method of motion generation aiming at the imitation of the human motion. This method is based on the reshaping of the captured data and the motion editing by using the hierarchical solver previously introduced and the definition of dynamic tasks and constraints. This original method allows adjusting a captured human motion in order to reliably reproduce it on a humanoid while respecting its own dynamics. Finally, in order to simulate movements resembling to those of humans, we develop an anthropomorphic model with higher number of degrees of freedom than the one of HRP-2. The generic solver is used to simulate motion on this new model. A sequence of tasks is defined to describe a scenario played by a human. By a simple qualitative analysis of motion, we demonstrate that taking into account the dynamics provides a natural way to generate human-like movements
Lober, Ryan. "Task compatibility and feasibility maximization for whole-body control". Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066597/document.
Texto completo da fonteProducing useful behaviors on complex robots, such as humanoids, is a challenging undertaking. Model-based whole-body control alleviates some of this difficulty by allowing complex whole-body motions to be broken up into multiple atomic tasks, which are performed simultaneously on the robot. However, modeling errors and assumptions, made during task planning, often result in infeasible and/or incompatible task combinations when executed on the robot. Consequently, there is no guarantee that the prescribed tasks will be accomplished, resulting in unpredictable, and most likely, unsafe whole-body motions. The objective of this work is to better understand what makes tasks infeasible or incompatible, and develop automatic methods of improving on these two issues so that the overall whole-body motions may be accomplished as planned. We start by building a concrete analytical formalism of what it means for tasks to be feasible with the control constraints and compatible with one another. Using the model-based feasibility and compatibility metrics, we demonstrate how the tasks can be optimized using non-linear model predictive control, while also detailing the shortcomings of this model-based approach. In order to overcome these weaknesses, an optimization loop is designed, which automatically improves task feasibility and compatibility using model-free policy search in conjunction with model-based whole-body control. Through a series of simulated and real-world experiments, we demonstrate that by simply optimizing the tasks to improve both feasibility and compatibility, complex and useful whole-body motions can be realized
Gomes, Junior Waldez Azevedo. "Improving Ergonomics Through Physical Human-Robot Collaboration". Electronic Thesis or Diss., Université de Lorraine, 2021. http://www.theses.fr/2021LORR0208.
Texto completo da fonteThis thesis aims to provide tools for improving ergonomics at work environments. Some work activities in industry are commonly executed by workers in a non-ergonomic fashion, which may lead to musculoskeletal disorders in the short or in the long term.Work-related Musculoskeletal Disorders (WMSDs) are a major health issue worldwide, that also represents important costs both for society and companies. WMSDs are known to be caused by multiple factors, such as repetitive motion, excessive force, and awkward, non-ergonomic body postures. Not surprisingly, work environments with such factors may present an incidence of WMSDs of up to 3 or 4 times higher than in the overall population.Here, our approach is to evaluate the human motion with respect to ergonomics indexes, optimize the motion, and intervene on the task based on the optimized motion.To evaluate the body posture ergonomics, we developed a Digital Human Model (DHM) simulation capable of replaying whole-body motions.In simulation, the initial movement can be iteratively improved, until an optimal ergonomic whole-body motion is obtained.We make the case that a robot in physical interaction with a human could drive the human towards more ergonomic whole-body motions, possibly to an ergonomically optimal motion. To design a robot controller that influences the body posture, we first investigate the human motor behavior in a human-human co-manipulation study. In this human dyad study, we observed motor behavior patterns that were used to design a collaboration controller for physical human-robot interaction (pHRI). In a new study, the same co-manipulation task was then executed by humans collaborating with a Franka Emika Panda robot
Weber, Bruno. "Optimisation de code Galerkin discontinu sur ordinateur hybride : application à la simulation numérique en électromagnétisme". Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAD046/document.
Texto completo da fonteIn this thesis, we present the evolutions made to the Discontinuous Galerkin solver Teta-CLAC – resulting from the IRMA-AxesSim collaboration – during the HOROCH project (2015-2018). This solver allows to solve the Maxwell equations in 3D and in parallel on a large amount of OpenCL accelerators. The goal of the HOROCH project was to perform large-scale simulations on a complete digital human body model. This model is composed of 24 million hexahedral cells in order to perform calculations in the frequency band of connected objects going from 1 to 3 GHz (Bluetooth). The applications are numerous: telephony and accessories, sport (connected shirts), medicine (probes: capsules, patches), etc. The changes thus made include, among others: optimization of OpenCL kernels for CPUs in order to make the best use of hybrid architectures; StarPU runtime experimentation; the design of an integration scheme using local time steps; and many optimizations allowing the solver to process simulations of several millions of cells