Download or read book G n ration de mouvement en robotique mobile et humano de written by Guilhem Saurel and published by . This book was released on 2017 with total page 126 pages. Available in PDF, EPUB and Kindle. Book excerpt: La génération de mouvements de locomotion en robotique mobile est étudiée dans le monde académique depuis plusieurs décennies. La théorie concernant la modélisation et le contrôle des robots à roues est largement mature. Cependant, la mise en œuvre effective de ces modèles dans des conditions réelles demande des études complémentaires. Dans cette thèse, nous présentons trois projets mettant en œuvre trois différents types de robots mobiles. Nous débutons dans chaque cas par une analyse sur les qualités recherchées d'un mouvement dans un contexte particulier, qu'il soit artistique ou industriel, et terminons par la présentation des architectures algorithmiques et logicielles mises en œuvre, notamment dans le cadre d'expositions de plusieurs mois, où le public est invité à partager l'espace d'évolution de robots. La réalisation de ces projets montre que certains choix technologiques semblant insignifiants au moment de la conception des robots sont déterminants dans les dernières étapes de la production. On peut extrapoler cette remarque depuis ces robots mobile à deux ou trois degrés de liberté vers des robots humanoïdes pouvant en avoir plusieurs dizaines. La stratégie classique qui consiste à concevoir, dans un premier temps, l'architecture mécatronique des robots humanoïdes, pour se poser ensuite la question de leur contrôle, atteint ses limites, comme le montrent par exemple la consommation énergétique et la difficulté d'obtenir des mouvements de marche dynamique sur ces robots, pourtant conçus dans le but de marcher. Dans une perspective globale de conception des robots marcheurs, nous proposons un système de codesign, où il est possible d'optimiser simultanément la conception mécanique et les contrôleurs d'un robot.

Download or read book G n ration de trajectoires pour robot mobile non holonome par gestion des centres de rotation written by Eric Pommier and published by . This book was released on 1991 with total page 146 pages. Available in PDF, EPUB and Kindle. Book excerpt: CE MEMOIRE DE THESE DECRIT UNE METHODE MIXTE DE GENERATION DE TRAJECTOIRES POUR ROBOTS MOBILES DE TYPE VOITURE. UNE APPROCHE GEOMETRIQUE PERMET DANS UN ESPACE DE DIMENSION DEUX DE TENIR COMPTE DE L'ENCOMBREMENT DU ROBOT AINSI QUE DE SA CONTRAINTE CINEMATIQUE DE NON-HOLONOMIE REPRESENTEE PAR UN RAYON MINIMUM DE BRAQUAGE. LES OBSTACLES SONT MODELISES PAR DES POLYGONES MATERIALISANT LA PROJECTION DE L'ENVIRONNEMENT SUR UN SOL PLAN. DE PLUS, UNE ETUDE SUR LA DYNAMIQUE DES ROBOTS MOBILES MONTRE L'INTERET D'AVOIR SUR UNE TRAJECTOIRE UNE VARIATION LINEAIRE DE LA COURBURE. CE PROBLEME EST ABORDE PAR L'UTILISATION D'ARCS DE CLOTHOIDE DISCRETISES. LA METHODE DE GENERATION DE TRAJECTOIRES PRESENTEE GERE LA POSITION DES CENTRES DE ROTATION DU ROBOT EN FONCTION DES OBSTACLES. UNE APPROCHE GLOBALE PERMET D'OBTENIR LE SQUELETTE DE LA TRAJECTOIRE PAR L'INTERMEDIAIRE D'UN GRAPHE DE VISIBILITE, LA PARTIE LOCALE INTEGRE LES CONTRAINTES DU ROBOT PRECEDEMMENT DEFINIES. DES MANUVRES SIMPLES, COMPLEXES ET PARTICULIERES AUGMENTENT LES CAPACITES DE FRANCHISSEMENT DU ROBOT A TRAVERS LES ENVIRONNEMENTS CONTRAINTS. DES ARCS DE CLOTHOIDE SONT INSERES AU SEIN DE LA TRAJECTOIRE GRACE A UNE ANTICIPATION DE LEUR DEPLACEMENT EQUIVALENT SUR LA POSITION DES CENTRES DE ROTATION

Download or read book Le probl me de la planification de mouvements en robotique mobile written by Jean-Bernard Thevenon and published by . This book was released on 1989 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: CETTE THESE EST UNE CONTRIBUTION A L'ETUDE DU PROBLEME DE LA PLANIFICATION DE MOUVEMENTS EN ROBOTIQUE MOBILE. DANS UNE PREMIERE PARTIE NOUS ETUDIONS LES METHODES DE GENERATION AUTOMATIQUE DE TRAJECTOIRES ET LES TECHNIQUES DE PLANIFICATION. DE CETTE ANALYSE NOUS POUVONS EXTRAIRE LES CARACTERISTIQUES D'UN SYSTEME DE CONTROLE POUR ROBOT MOBILE AUTONOME EVOLUANT EN MILIEU PARTIELLEMENT STRUCTURE. LA SECONDE PARTIE TRAITE D'UNE IMPLANTATION DE CETTE METHODE. ON UTILISE ALORS LA METHODE DES POTENTIELS FICTIFS DONT ON CONTROLE LES PARAMETRES AU MOYEN D'UN SYSTEME EXPERT. CETTE ARCHITECTURE LOGICIELLE PERMET DE RESOUDRE LE PROBLEME DES MINIMUMS LOCAUX DE POTENTIELS ET DONC D'ASSURER LA CONVERGENCE DE L'ALGORITHME

Download or read book CONTRIBUTION A L ETUDE DES ROBOTS MOBILES written by MOHAMMED.. TOUNSI and published by . This book was released on 1995 with total page 219 pages. Available in PDF, EPUB and Kindle. Book excerpt: LES ROBOTS MOBILES, CONTRAIREMENT AUX ROBOTS MANIPULATEURS, ONT LA PARTICULARITE MAJEURE D'ETRE REGIS PAR DES EQUATIONS DE CONTRAINTES NON HOLONOMES DUES AUX CONTACTS DES ROUES AVEC LE SOL. CES CONTRAINTES IMPLIQUENT, POUR CERTAINES STRUCTURES DE ROBOTS, UNE RESTRICTION SUR LEUR CAPACITE DE DEPLACEMENT. CETTE RESTRICTION QUI EMPECHE LES ROBOTS MOBILES D'AVOIR DES MOUVEMENTS EN CRABE EST GENERALEMENT APPELEE CONTRAINTE DE NON HOLONOMIE. LA NON HOLONOMIE D'UN ROBOT MOBILE COMPLIQUE LA GENERATION DE MOUVEMENTS REALISABLES, ELLE NECESSITE UNE ANALYSE ET UNE SYNTHESE SPECIFIQUES DES BOUCLES DE COMMANDES PAR RETOUR D'ETAT. LE PROBLEME DE LA COMMANDE D'UN ROBOT MOBILE NON HOLONOME RESIDE DANS LE FAIT QU'IL N'EXISTE PAS DE RETOUR D'ETAT CONTINU CAPABLE DE CONDUIRE LE ROBOT A UNE POSITION ET UNE ORIENTATION DESIREES ET CELA QUELLES QUE SOIENT SA POSITION ET SON ORIENTATION INITIALES. PAR CONTRE, SI ON GENERE UN MOUVEMENT DIT DE REFERENCE PERMETTANT D'ATTEINDRE LA POSITION ET L'ORIENTATION DESIREES, ALORS IL EST POSSIBLE DE TROUVER UN RETOUR D'ETAT STABLE PERMETTANT AU ROBOT DE SUIVRE CETTE CONSIGNE. DANS CETTE THESE, NOUS TRAITONS TOUTES LES ETAPES NECESSAIRES POUR DEVELOPPER UN MODULE ROBUSTE DE COMMANDE DE MOUVEMENTS DANS L'ESPACE CARTESIEN POUR LE ROBOT MELODY (MOBILE D'EXTERIEUR A LOCALISATION DYNAMIQUE) DU L.A.N. CES ETAPES SONT LES SUIVANTES: ? ELABORATION D'UN MODELE DYNAMIQUE REALISTE QUI TIENT COMPTE DES FROTTEMENTS DES ROUES, AINSI QUE DES CONTRAINTES CINEMATIQUES SUBIES PAR LE ROBOT. ? DEVELOPPEMENT D'UN MODULE DE PLANIFICATION DE CHEMINS ET DE GENERATION DE MOUVEMENTS PROPRE AUX ROBOTS DE TYPE MELODY. ? IDENTIFICATION DES PARAMETRES DYNAMIQUES DU ROBOT MELODY. ? MISE EN UVRE SUR MELODY D'UNE LOI DE COMMANDE NON LINEAIRE. COMPARAISON DES PERFORMANCES OBTENUES AVEC ET SANS MODELE DYNAMIQUE. LES RESULTATS OBTENUS MONTRENT QUE LA PRISE EN COMPTE D'UN GENERATEUR DE MOUVEMENT ADAPTE ET LA MISE EN UVRE DE LOIS DE COMMANDES UTILISANT LE MODELE DYNAMIQUE PERMET D'AMELIORER DE MANIERE SIGNIFICATIVE LES PERFORMANCES DE POURSUITE CARTESIENNE DU ROBOT

Download or read book New Advances in Mechanisms Transmissions and Applications written by Victor Petuya and published by Springer Science & Business Media. This book was released on 2013-08-04 with total page 421 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Second Conference on Mechanisms, Transmissions and Applications - MeTrApp 2013 was organised by the Mechanical Engineering Department of the University of the Basque Country (Spain) under the patronage of the IFToMM Technical Committees Linkages and Mechanical Controls and Micromachines and the Spanish Association of Mechanical Engineering. The aim of the workshop was to bring together researchers, scientists, industry experts and students to provide, in a friendly and stimulating environment, the opportunity to exchange know-how and promote collaboration in the field of Mechanism and Machine Science. The topics treated in this volume are mechanism and machine design, biomechanics, mechanical transmissions, mechatronics, computational and experimental methods, dynamics of mechanisms and micromechanisms and microactuators.

Download or read book Modeling of Human Movement for the Generation of Humanoid Robot Motion written by Manish Narsipura Sreenivasa and published by . This book was released on 2010 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid robotics is coming of age with faster and more agile robots. To compliment the physical complexity of humanoid robots, the robotics algorithms being developed to derive their motion have also become progressively complex. The work in this thesis spans across two research fields, human neuroscience and humanoid robotics, and brings some ideas from the former to aid the latter. By exploring the anthropological link between the structure of a human and that of a humanoid robot we aim to guide conventional robotics methods like local optimization and task-based inverse kinematics towards more realistic human-like solutions. First, we look at dynamic manipulation of human hand trajectories while playing with a yoyo. By recording human yoyo playing, we identify the control scheme used as well as a detailed dynamic model of the hand-yoyo system. Using optimization this model is then used to implement stable yoyo-playing within the kinematic and dynamic limits of the humanoid HRP-2. The thesis then extends its focus to human and humanoid locomotion. We take inspiration from human neuroscience research on the role of the head in human walking and implement a humanoid robotics analogy to this. By allowing a user to steer the head of a humanoid, we develop a control method to generate deliberative whole-body humanoid motion including stepping, purely as a consequence of the head movement. This idea of understanding locomotion as a consequence of reaching a goal is extended in the final study where we look at human motion in more detail. Here, we aim to draw to a link between “invariants” in neuroscience and “kinematic tasks” in humanoid robotics. We record and extract stereotypical characteristics of human movements during a walking and grasping task. These results are then normalized and generalized such that they can be regenerated for other anthropomorphic figures with different kinematic limits than that of humans. The final experiments show a generalized stack of tasks that can generate realistic walking and grasping motion for the humanoid HRP-2. The general contribution of this thesis is in showing that while motion planning for humanoid robots can be tackled by classical methods of robotics, the production of realistic movements necessitate the combination of these methods with the systematic and formal observation of human behavior.

Download or read book Generation de trajectoires pour robot mobile non holonome par gestion des centres de rotation written by Eric Pommier and published by . This book was released on 1991 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Brain Mechanisms and Spatial Vision written by D.J. Ingle and published by Springer Science & Business Media. This book was released on 1984-12-31 with total page 486 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains chapters derived from a N. A. T. O. Advanced Study Institute held in June 1983. As the director of this A. S. I. it was my hope that some of the e1ectrophysiologists could express the potentialities of their work for perceptual theory, and that some perceptionists could speculate on the underlying "units" of perception in a way that would engage the imagination of physio logists. The reader will have to be the judge of whether this was achieved, or whether such a psychophysiological inter1ingua is still overly idealistic. It is clear that after the revolution prec~pitated by Hube1 and Weisel in understanding of visual cortical neurons we still have only a foggy idea of the behavioral output of any particular species of cortical detector. It was therefore particularly unfortunate that two persons who have made great strides in correlating interesting facets of cat cortical physio logy with human psychophysics (Max Cynader and Martin Regan of Dalhousie University) were unable to attend this meeting. Never theless, a number of new and challenging ideas regarding both spatial perception and cortical mechanisms are represented in this volume, and it is hoped that the reader will remember not only the individual demonstrations but the critical questions posed by the apposition of the two different collections of experimental facts. David Ingle April 1984 VII TABLE OF CONTENTS PREFACE V D. N. Lee and D. S. Young Visual Timing of Interceptive Action 1 J. J.

Download or read book Vibration Engineering and Technology of Machinery written by José Manoel Balthazar and published by Springer Nature. This book was released on 2021-03-03 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume gathers the latest advances, innovations and applications in the field of vibration and technology of machinery, as presented by leading international researchers and engineers at the XV International Conference on Vibration Engineering and Technology of Machinery (VETOMAC), held in Curitiba, Brazil on November 10-15, 2019. Topics include concepts and methods in dynamics, dynamics of mechanical and structural systems, dynamics and control, condition monitoring, machinery and structural dynamics, rotor dynamics, experimental techniques, finite element model updating, industrial case studies, vibration control and energy harvesting, and MEMS. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations.

Download or read book Animal Rationality written by Anselm Oelze and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In Animal Rationality: Later Medieval Theories 1250-1350, Anselm Oelze offers the first comprehensive and systematic exploration of theories of animal rationality in the later Middle Ages. Traditionally, it was held that medieval thinkers ascribed rationality to humans while denying it to nonhuman animals. As Oelze shows, this narrative fails to capture the depth and diversity of the medieval debate. Although many thinkers, from Albert the Great to John Buridan, did indeed hold that nonhuman animals lack rational faculties, some granted them the ability to engage in certain rational processes such as judging, reasoning, or employing prudence. There is thus a whole spectrum of positions to be discovered, many of which show interesting parallels with contemporary theories of animal rationality.

Download or read book The Antinomies Of Realism written by Fredric Jameson and published by Verso Books. This book was released on 2013-10-08 with total page 432 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Antinomies of Realism is a history ofthe nineteenth-century realist novel and its legacy told without a glimmer of nostalgia for artistic achievements that the movement of history makes it impossible to recreate. The works of Zola, Tolstoy, Pérez Galdós, and George Eliot are in the most profound sense inimitable, yet continue to dominate the novel form to this day. Novels to emerge since struggle to reconcile the social conditions of their own creation with the history of this mode of writing: the so-called modernist novel is one attempted solution to this conflict, as is the ever-more impoverished variety of commercial narratives – what today’s book reviewers dub “serious novels,” which are an attempt at the impossible endeavor to roll back the past. Fredric Jameson examines the most influential theories of artistic and literary realism, approaching the subject himself in terms of the social and historical preconditions for realism’s emergence. The realist novel combined an attention to the body and its states of feeling with a focus on the quest for individual realization within the confines of history. In contemporary writing, other forms of representation – for which the term “postmodern” is too glib – have become visible: for example, in the historical fiction of Hilary Mantel or the stylistic plurality of David Mitchell’s novels. Contemporary fiction is shown to be conducting startling experiments in the representation of new realities of a global social totality, modern technological warfare, and historical developments that, although they saturate every corner of our lives, only become apparent on rare occasions and by way of the strangest formal and artistic devices. In a coda, Jameson explains how “realistic” narratives survived the end of classical realism. In effect, he provides an argument for the serious study of popular fiction and mass culture that transcends lazy journalism and the easy platitudes of recent cultural studies.

Download or read book The History of Science Fiction written by A. Roberts and published by Springer. This book was released on 2005-11-28 with total page 385 pages. Available in PDF, EPUB and Kindle. Book excerpt: The History of Science Fiction traces the origin and development of science fiction from Ancient Greece up to the present day. The author is both an academic literary critic and acclaimed creative writer of the genre. Written in lively, accessible prose it is specifically designed to bridge the worlds of academic criticism and SF fandom.

Download or read book Kinetics of Human Motion written by Vladimir M. Zatsiorsky and published by Human Kinetics. This book was released on 2002 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the examination of forces that create entire body motion.

Download or read book Trends and Innovations in Information Systems and Technologies written by Álvaro Rocha and published by Springer Nature. This book was released on 2020-05-18 with total page 821 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers selected papers presented at the 2020 World Conference on Information Systems and Technologies (WorldCIST’20), held in Budva, Montenegro, from April 7 to 10, 2020. WorldCIST provides a global forum for researchers and practitioners to present and discuss recent results and innovations, current trends, professional experiences with and challenges regarding various aspects of modern information systems and technologies. The main topics covered are A) Information and Knowledge Management; B) Organizational Models and Information Systems; C) Software and Systems Modeling; D) Software Systems, Architectures, Applications and Tools; E) Multimedia Systems and Applications; F) Computer Networks, Mobility and Pervasive Systems; G) Intelligent and Decision Support Systems; H) Big Data Analytics and Applications; I) Human–Computer Interaction; J) Ethics, Computers & Security; K) Health Informatics; L) Information Technologies in Education; M) Information Technologies in Radiocommunications; and N) Technologies for Biomedical Applications.

Download or read book Social Psychology of Inclusion and Exclusion written by Dominic Abrams and published by Psychology Press. This book was released on 2004-06-02 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about the social psychological dynamics and phenomenology of social inclusion and exclusion. The editors take as their starting point the assumption that social life is conducted in a framework of relationships in which individuals seek inclusion and belongingness. Relationships necessarily include others, but equally they have boundaries that exclude. Frequently these boundaries are challenged or crossed. The book will draw together research on individual motivation, small group processes, stigmatization and intergroup relations, to provide a comprehensive social psychological account of social inclusion and exclusion.

Download or read book Futurism and the Technological Imagination written by and published by BRILL. This book was released on 2016-08-09 with total page 398 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume, Futurism and the Technological Imagination, results from a conference of the International Society for the Study of European Ideas in Helsinki. It contains a number of re-written conference contributions as well as several specially commissioned essays that address various aspects of the Futurists’ relationship to technology both on an ideological level and with regard to their artistic languages. In the early twentieth century, many art movements vied with each other to overhaul the aesthetic and ideological foundations of arts and literature and to make them suitable vehicles of expression in the new Era of the Machine. Some of the most remarkable examples came from the Futurist movement, founded in 1909 by Filippo Tommaso Marinetti. By addressing the full spectrum of Futurist attitudes to science and the machine world, this collection of 14 essays offers a multifaceted account of the complex and often contradictory features of the Futurist technological imagination. The volume will appeal to anybody interested in the history of modern culture, art and literature.

Download or read book Kinematics of Human Motion written by Vladimir M. Zatsiorsky and published by Human Kinetics. This book was released on 1998 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first of a series of textbooks for one-semester courses for students of human movement science, exercise and sport science, biomechanics, and related subjects. Assumes a knowledge of calculus and matrix algebra. Describes how to study human body position and displacement without regard to time, velocity, or acceleration, then adds those factors back in to examine differential kinematics. Includes review questions and a glossary without pronunciation. Annotation copyrighted by Book News, Inc., Portland, OR