Optimisation numérique pour la robotique et exécution de trajectoires référencées capteurs. (Numerical optimization for robotics and closed-loop trajectory execution)

Le travail presente dans cette these est divise en deux parties. Dans la premiere partie, un modele pour la representation unifiee de problemes d'optimisation numerique est propose. Ce modele permet de definir un probleme d'optimisation independamment de la strategie utilisee pour le resoudre. Cette representation unifiee est particulierement appreciable en robotique ou une solution analytique des problemes est rarement possible. La seconde partie traite de l'execution de mouvements complexes asservis sur un robot humanoide. Lors de la locomotion d'un tel systeme, les glissements des points de contact entrainent une derive qu'il est necessaire de corriger. Nous proposons ici un modele permettant d'asservir une tâche de locomotion sur un capteur externe afin de compenser les erreurs d'execution des mouvements. Un modele est egalement propose permettant de representer des sequences de tâches de locomotion et de manipulation asservies. Enfin, une methodologie pour le developpement d'applications robotiques complexes est etablie. Les strategies proposees dans le cadre de cette these ont ete validees sur la plate-forme experimentale HRP-2.

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