Dynamique optimale de systèmes articulés à cinématique fermée. Application à la synthèse d'allures de marche optimales

Ce memoire est centre sur l'optimisation dynamique de mouvements de systemes articules plans travaillant en boucle fermee. L'application visee est l'optimisation de pas de marche de robots bipedes. La premiere partie est consacree au developpement de modeles dynamiques de systemes boucles adaptes au probleme de l'optimisation lorsqu'on fait appel au principe du maximum de Pontryagin. Le probleme d'optimisation est traite dans la deuxieme partie. La demarche utilisee consiste a ouvrir la chaine au niveau d'une liaison bien choisie et a traiter les efforts de liaison comme des efforts de commande complementaires. La condition de fermeture de la chaine est alors consideree comme une contrainte du probleme d'optimisation et est traitee par une methode de penalite. Le troisieme chapitre contient des simulations numeriques relatives a des mecanismes plans suractionnes de type robots paralleles. Les principaux resultats concernent l'optimisation de pas de marche de bipedes plans a pattes bisegmentaires et trisegmentaires.

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