logo EDITE Jose PONTES
Identité
Jose PONTES
État académique
Thèse en cours...
Sujet: An hybrid and adaptive approach to humanoid whole body locomotion: blending rhythmic primitives and feet placement strategies
Direction de thèse:
Encadrement de thèse:
Laboratoire:
Voisinage
Ellipse bleue: doctorant, ellipse jaune: docteur, rectangle vert: permanent, rectangle jaune: HDR. Trait vert: encadrant de thèse, trait bleu: directeur de thèse, pointillé: jury d'évaluation à mi-parcours ou jury de thèse.
Productions scientifiques
oai:hal.archives-ouvertes.fr:hal-01398513
AN ADAPTIVE APPROACH TO HUMANOID LOCOMOTION
International audience
Controllers for the locomotion of legged robots often face challenges regarding their optimization towards different objectives and different terrains. We propose an architecture that uses the information gathered in an exploration phase to adapt to a terrain with unknown characteristics. In the exploration phase virtual simulations are used to optimize the parameters of the controller in different terrains. The results of this optimization are used to identify the unknown terrain characteristics, and these values are used to select the best parameters for this particular terrain. The approach was tested in simulation, on terrains with variable friction, on an iCub robot, against a naive approach, and another where the friction was identified at random, and it clearly outper-formed in both cases.
Advances in Cooperative Robotics -- Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines https://hal.archives-ouvertes.fr/hal-01398513 Advances in Cooperative Robotics -- Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific Publishing, pp.437-444, 2016, 978-981-3149-12-0 <10.1142/9789813149137_0052>ARRAY(0x7f5471c563e0) 2016