Esta tese trata de um robô bípede em caminhar dinâmico. Neste robô, que normalmente é um sistema sub-atuado, fazemos uso de um disco de inércia que funciona num certo sentido como um atuador adicional. Através deste disco, obtém-se mais liberdade para a elaboração de passos repetitivos e um aumento na robustez. Por outro lado, o sistema de controle dos passos deve controlar, além do passo propriamente dito, também a velocidade do disco, de modo que não sejam saturados os atuadores (motores elétricos). Apresentamos então um controlador capaz de realizar estas ações simultaneamente. / This Thesis is about a bipedal robot in a dynamic walking gait. In this robot, which is usually a under-actuated system, a inertial wheel is employed and acts as an additional actuator. By using this wheel, one can design a cyclic walking gait with increased robustness and with more freedom. On the other hand, the control system must take care of the step itself, and also must ensure that the wheel speed does not exceed the actuators (motors) limits. We present a controller able to perform this tasks.

Hippotherapy belongs to the family of proprioceptive neuromuscular facilitation methods. It especially benefits the rehabilitation care of complex neurological patients. This paper theoretically examines the methodology of hippotherapy. Further, this paper examines an evaluative survey of 21 subjects after intensive hippotherapy who were initially diagnosed with cerebral palsy. The immediate, short and medium term effect of the therapy was exami-ned. For the evaluation the intercondylic index, Collis symptom and position reaction tests were used. The testing is complemented with a questionnaire filled in by parents with 11 pa-rameters, which included changes in the functions of knowledge and psyche of the child. The results show that there is a statistically significant improvement in all examined parameters after immediate and weekly therapy. Thus this method can be recommended as a possible approach to the therapy of children with cerebral palsy. Powered by TCPDF (www.tcpdf.org)

Cette thèse traite du problème de la locomotion des robots humanoïdes dans le contexte du projet européen KoroiBot. En s'inspirant de l'être humain, l'objectif de ce projet est l'amélioration des capacités des robots humanoïdes à se mouvoir de façon dynamique et polyvalente. Le coeur de l'approche scientifique repose sur l'utilisation du controle optimal, à la fois pour l'identification des couts optimisés par l'être humain et pour leur mise en oeuvre sur les robots des partenaires roboticiens. Cette thèse s'illustre donc par une collaboration à la fois avec des mathématiciens du contrôle et des spécialistes de la modélisation des primitives motrices. Les contributions majeures de cette thèse reposent donc sur la conception de nouveaux algorithmes temps-réel de contrôle pour la locomotion des robots humanoïdes avec nos collégues de l'université d'Heidelberg et leur intégration sur le robot HRP-2. Deux contrôleurs seront présentés, le premier permettant la locomotion multi-contacts avec une connaissance a priori des futures positions des contacts. Le deuxième étant une extension d'un travail réalisé sur de la marche sur sol plat améliorant les performances et ajoutant des fonctionnalitées au précédent algorithme. En collaborant avec des spécialistes du mouvement humain nous avons implementé un contrôleur innovant permettant de suivre des trajectoires cycliques du centre de masse. Nous présenterons aussi un contrôleur corps-complet utilisant, pour le haut du corps, des primitives de mouvements extraites du mouvement humain et pour le bas du corps, un générateur de marche. Les résultats de cette thèse ont été intégrés dans la suite logicielle "Stack-of-Tasks" du LAAS-CNRS. / This thesis covers the topic of humanoid robot locomotion in the frame of the European project KoroiBot. The goal of this project is to enhance the ability of humanoid robots to walk in a dynamic and versatile fashion as humans do. Research and innovation studies in KoroiBot rely on optimal control methods both for the identification of cost functions used by human being and for their implementations on robots owned by roboticist partners. Hence, this thesis includes fruitful collaborations with both control mathematicians and experts in motion primitive modeling. The main contributions of this PhD thesis lies in the design of new real time controllers for humanoid robot locomotion with our partners from the University of Heidelberg and their integration on the HRP-2 robot. Two controllers will be shown, one allowing multi-contact locomotion with a prior knowledge of the future contacts. And the second is an extension of a previous work improving performance and providing additional functionalities. In a collaboration with experts in human motion we designed an innovating controller for tracking cyclic trajectories of the center of mass. We also show a whole body controller using upper body movement primitives extracted from human behavior and lower body movement computed by a walking pattern generator. The results of this thesis have been integrated into the LAAS-CNRS "Stack-of-Tasks" software suit.

Author's first name and surname: Jan KMOCH Department: FTVS UK, Department of Outdoor Sports Supervisor: Mgr. Radka Bačáková Abstract Title: Comparative analysis of chosen skating techniques at cross-country skiing. Objective: Comparison of leg muscle coordination at different skating techniques in one locomotive cycle at cross-country skiing and free bipedal walk. Methods: Comparative analysis of electromyography records of muscle activation in combination with kinematography analysis of video record. Results: There were found similarities and differences in muscle activation timing at observed muscles. Keywords: skating at cross-country skiing, bipedal walk, surface electromyography

Human evolution has been linked to climate change multiple times in the literature. One of the more well-known theories is the ‘savannah’ theory, which states that walking upright became an advantageous character when climate in Africa changed causing drier environments, changing woodlands to savannahs. Human ancestors could cross open fields more easily when walking upright, therefore it was thought that climate change could be a driving factor in the change to bipedal locomotion. Five hominin species were the basis of the study presented here, showing that change towards bipedal locomotion was a mosaic process with gradual change. A review of the relevant literature shows that the timing of change in fossils to bipedal locomotion and climate change do not coincide in the interval 6-3 Ma, therefore suggesting that climate change did not drive human evolution in this case. Changes towards open landscapes with C4 grass dominance peaked at the Pliocene-Pleistocene boundary (2.6 Ma), while the first hominin species already walked completely bipedally before 3.5 Ma.

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The task of modeling and controlling the evolution of dynamical sys- tems is one of the main objectives in mechatronics engineering. When approaching the problem of controlling physical or digital systems, the dynamical models have been historically divided into continuous-time, described by differential equations, and discrete-time, described by difference equations. In the last decade, a new class of models, known as hybrid dynamical systems, has gained popularity in the control community because of its high versatility. This framework combines continuous-time and discrete- time evolution, thus allowing for both the description of a broader class of systems and the achievement of better-performing controllers, compared to the traditional continuous-time alternatives. After the first rigorous introduction of the framework, several Lyapunov-based results were published in the literature, and numerous application areas were shown to benefit from the introduction of a hybrid dynamics, like systems involving impacts or physical systems connected to digital controllers (cyber-physical systems). In this thesis, we use the hybrid framework to study different mechatronics-inspired control problems. The applications we consider are diverse, so we split the presentation into three parts. In the first part we further analyze a particular hybrid control strategy, known as reset control, providing some new theoretical guarantees, together with an application to adaptive control. In the second part we consider two applications of the hybrid framework to the network dynamics field, specifically we analyze the problems of distributed state estimation and of uniform synchronization of nonlinear oscillators. In the third part, we use a hybrid approach to study two applications where this framework has been rarely employed, or not at all, namely smart agriculture and trajectory tracking for a bipedal walking robot. We study these application-inspired problems from a theoretical point of view, giving robust Lyapunov-based stability guarantees. We complement the theoretical analysis with numerical results, obtained from simulations or from experiments.