Design of biped robots with simple dynamics: modeling, control and trajectory generation. / Projeto de robôs bípedes com dinâmica simplificada: modelagem, controle e síntese de trajetórias.

AUTOR(ES)

Cauê Peres

DATA DE PUBLICAÇÃO

2008

RESUMO

In this thesis we present a new class of biped robots with articulate legs and a torso. The proposed design is constructed by means of applying counter- balances to each link of the leg, and therefore it has some properties that simplifies dramatically the dynamics of the robot. We prove that the result- ing system, under certain assumptions, is exact linearizable by a nonlinear feedback. We describe the solution to the time-optimal tracking problem of a predefined trajectory for this robot, assuming that its actuators have torque limits. We designed a control system inspired on the concept of °flatness"in order to track this reference optimal trajectory. We evaluated the robustness of such system during the simulations of some numerical examples.

ASSUNTO(S)

optimal control inteligência artificial robôs controle ótimo artificial intelligence robots

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