Commande Prédictive D'un Robot Humanoïde PDF Download

Author: Andrei Herdt
Publisher:
ISBN:
Category :
Languages : en
Pages : 0

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Book Description
The range of motions that humanoid robots are able to realize is strongly limited by inherent dynamical constraints so that any control law that does not consider these limitations, in one way or another, will fail to avoid falling. The Model Predictive Control (MPC) technique is capable of handling constraints on the state and the control explicitly, which makes it highly apt for the control of walking robots.We begin by unveiling the specific structure of these constraints, stressing especially the impor- tance of the supports on the ground. We give thereupon a sufficient condition for keeping balance and formulate an MPC law that complies with it. This formulation serves us then for the design of practicable controllers capable of more efficient and more robust control of humanoid robots.

Author: Aurélien Ibanez
Publisher:
ISBN:
Category :
Languages : en
Pages : 0

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Book Description
Rising to the challenge of motor control for systems involved in multi-objective and highly-constrained activities is a requirement to enable the emergence of efficient and robust behaviors; the elaboration of complex motor coordination strategies is critical in ensuring performance, feasibility and safety.Although multi-objective predictive approaches enable the definition of complex and constrained strategies coordinating the motor activity of the system, their computational cost is a critical drawback from practical applications.The work presented in this dissertation aims at considering multi-objective predictive control for feasible and practical applications to humanoid robotics.A control architecture is proposed to this purpose as a multi-objective, two-layered controller exploiting the respective advantages of predictive and instantaneous formulations.The contribution of this work takes the form of the validation of the benefits from such an approach in its development for practical challenges and applications, in simulation and real-time implementation, on the iCub and TORO robots and virtual human models.Computational demand of the predictive level is contained with the introduction of reduced multi-objective predictive problems, enabling computationally-favorable formulations of the control problem using mixed-integer programming and sequential and parallel distributions.Despite the resulting approximations on the dynamics of the system at the predictive level, complex behaviors are emerging, exploiting elaborate coordination strategies between conflicting objectives and constraints to increase performance and robustness against disturbances.

Author: Tyler John Matijevich
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Author: Janmenjoy Nayak
Publisher: Springer Nature
ISBN: 3030302717
Category : Technology & Engineering
Languages : en
Pages : 390

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Book Description
This book shares important findings on the application of robotics in industry using advanced mechanisms, including software and hardware. It presents a collection of recent trends and research on various advanced computing paradigms such as soft computing, robotics, smart automation, power control, and uncertainty analysis. The book constitutes the proceedings of the 1st International Conference on Application of Robotics in Industry using Advanced Mechanisms (ARIAM2019), which offered a platform for sharing original research findings, presenting innovative ideas and applications, and comparing notes on various aspects of robotics. The contributions highlight the latest research and industrial applications of robotics, and discuss approaches to improving the smooth functioning of industries. Moreover, they focus on designing solutions for complex engineering problems and designing system components or processes to meet specific needs, with due considerations for public health and safety, including cultural, societal, and environmental considerations. Taken together, they offer a valuable resource for researchers, scientists, engineers, professionals and students alike.

Author: Miao, Fengchun
Publisher: UNESCO Publishing
ISBN: 9231004476
Category : Political Science
Languages : en
Pages : 50

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Book Description
Artificial Intelligence (AI) has the potential to address some of the biggest challenges in education today, innovate teaching and learning practices, and ultimately accelerate the progress towards SDG 4. However, these rapid technological developments inevitably bring multiple risks and challenges, which have so far outpaced policy debates and regulatory frameworks. This publication offers guidance for policy-makers on how best to leverage the opportunities and address the risks, presented by the growing connection between AI and education. It starts with the essentials of AI: definitions, techniques and technologies. It continues with a detailed analysis of the emerging trends and implications of AI for teaching and learning, including how we can ensure the ethical, inclusive and equitable use of AI in education, how education can prepare humans to live and work with AI, and how AI can be applied to enhance education. It finally introduces the challenges of harnessing AI to achieve SDG 4 and offers concrete actionable recommendations for policy-makers to plan policies and programmes for local contexts. [Publisher summary, ed]

Author: Leslie Pack Kaelbling
Publisher: MIT Press
ISBN: 9780262111744
Category : Computers
Languages : en
Pages : 206

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Book Description
Learning to perform complex action strategies is an important problem in the fields of artificial intelligence, robotics and machine learning. Presenting interesting, new experimental results, Learning in Embedded Systems explores algorithms that learn efficiently from trial and error experience with an external world. The text is a detailed exploration of the problem of learning action strategies in the context of designing embedded systems that adapt their behaviour to a complex, changing environment. Such systems include mobile robots, factory process controllers and long-term software databases.

Author: Christoph Guger
Publisher: Springer
ISBN: 331957132X
Category : Computers
Languages : en
Pages : 136

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Book Description
This book describes the prize-winning brain-computer-interface (BCI) projects honored in the community's most prestigious annual award. BCIs enable people to communicate and control their limbs and/or environment using thought processes alone. Research in this field continues to develop and expand rapidly, with many new ideas, research groups, and improved technologies having emerged in recent years. The chapters in this volume feature the newest developments from many of the best labs worldwide. They present both non-invasive systems (based on the EEG) and intracortical methods (based on spikes or ECoG), and numerous innovative applications that will benefit new user groups

Author: Chihiro Suematsu
Publisher: Springer
ISBN: 331906889X
Category : Business & Economics
Languages : en
Pages : 273

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Book Description
All organizations, institutions, business processes, markets and strategies have one aim in common: the reduction of transaction costs. This aim is pursued relentlessly in practice, and has been perceived to bring about drastic changes, especially in the recent global market and the cyber economy. This book analyzes and describes “transactions” as a model, on the basis of which organizations, institutions and business processes can be appropriately shaped. It tracks transaction costs to enable a scientific approach instead of a widely used “state-of-the-art” approach, working to bridge the gap between theory and practice. This open access book analyzes and describes “transactions” as a model...

Author: Nils J. Nilsson
Publisher: Cambridge University Press
ISBN: 1139642820
Category : Computers
Languages : en
Pages : 644

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Book Description
Artificial intelligence (AI) is a field within computer science that is attempting to build enhanced intelligence into computer systems. This book traces the history of the subject, from the early dreams of eighteenth-century (and earlier) pioneers to the more successful work of today's AI engineers. AI is becoming more and more a part of everyone's life. The technology is already embedded in face-recognizing cameras, speech-recognition software, Internet search engines, and health-care robots, among other applications. The book's many diagrams and easy-to-understand descriptions of AI programs will help the casual reader gain an understanding of how these and other AI systems actually work. Its thorough (but unobtrusive) end-of-chapter notes containing citations to important source materials will be of great use to AI scholars and researchers. This book promises to be the definitive history of a field that has captivated the imaginations of scientists, philosophers, and writers for centuries.

Author: Jeffrey Sconce
Publisher: Duke University Press
ISBN: 9780822325727
Category : Language Arts & Disciplines
Languages : en
Pages : 276

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Book Description
Examines the repeated association of new electronic media with spiritual phenomena from the telegraph in the late 19th century to television.