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Master thesis

Reactive Walking for the Humanoid Robot Pyrène

Louise Scherrer 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : If the idea of human-shaped robots is several centuries old and if humanoid robots can be built for real for some decades, reproducing human motions on these robots is still very challenging today. In particular, the bipedal locomotion problem requires complex mechanical and dynamical models, as well as very powerful control and numerical solving tools. The simulation to reality gap is also a crucial step. The internship presented in this report focuses on the locomotion of the humanoid robot Pyr`ene (Talos series from the company PAL-Robotics). It serves an objective of adaptation of the control scheme that had been developed and validated on a former humanoid robot, on this new robot Pyr`ene. The control scheme includes a motion generator, a walking stabilizer and an inverse kinematics solver that generates the command in position transmitted to the robot. During the internship, work was first conducted on the motion generator. It allowed to design a simulation for the real-time teleoperation of the robot. Then, diverse developments on the walking stabilizer have been made, that aimed at integrating an additional stabilizing strategy. It involves adding an admittance controller at the level of the ankles of the robot, allowing it to adapt its ankle orientation when landing the foot, so that the robot can adapt to its real environment. Issues on the modelling of the robot in the control scheme have been raised. They have been partly solved during the internship. The new stabilizing strategy is now integrated in the control scheme and partially validated.
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Submitted on : Monday, October 12, 2020 - 9:52:59 AM
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  • HAL Id : hal-02964034, version 1

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Louise Scherrer. Reactive Walking for the Humanoid Robot Pyrène. Robotics [cs.RO]. 2020. ⟨hal-02964034⟩

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