La marche est un mécanisme complexe impliquant l’élaboration de trajectoires dans des milieux divers et variés et la réalisation des mouvements segmentaires qui permettent de les parcourir. Elle est alors dépendante de l’environnement, des obstacles et autres individus qui le peuplent mais également des capacités physiques du corps humain. De part cette complexité, l’étude de la marche est généralement compartimentée en deux niveaux : la génération de trajectoires locomotrices d’une part et les mouvements des membres d’autre part. Ce travail vise à proposer un processus complet d’analyse de la marche, en s’intéressant au lien unissant les trajectoires locomotrices aux mouvements segmentaires. Dans un premier temps nous nous intéressons à la génération de trajectoires. Plus particulièrement, nous nous focalisons sur une situation de croisement entre deux piétons et sur les stratégies mises en place pour éviter la collision. Puis, nous portons notre attention sur la manière dont les endroits de pose de pieds sont influencés par la trajectoire. Cette analyse nous conduit à proposer un modèle de génération d’empreintes de pas. Enfin, nous nous intéressons à la générations des trajectoires articulaires menant au mouvement de marche. Par l’utilisation de la méthode de linéarisation locale nous proposons une nouvelle méthodologie pour la simulation de la marche à partir d’une entrée unique : la prochaine empreinte pas / Walking is a complex mecanism involving trajectories generation in various environments and motion generation in order to follow the path. Then, it is dependent on environment, obstacles and peoples moving around but also on body capabilities. This complexity lead scientits to split walking analysis in two levels : trajectory generation in one hand, and motion generation in the othe hand. This work aim to provide a global walking analysis processus by linking trajectorires and motion generation. First, we explore walking trajectories throw a particular situation : pedestrians crossing. Here we take interest in trajectories and speed adaptations. Then, we sink for the link between trajectory and heelstrike. It lead us to develop a model for heelstrike generation based on trajectory. Finally, we take interest in walking motion simulation. By the use of local linearization, we provide a new methodology for joints joints angles generation

Este trabalho consiste na elaboração de uma estratégia para a geração de trajetórias otimizadas para um robô cilíndrico de cinco graus de liberdade acionado pneumaticamente. Como resultado da aplicação do método desenvolvido obtêm-se as trajetórias no espaço das juntas que resultam no movimento adequado do efetuador do robô, de acordo com algum critério de otimização. Para a obtenção das trajetórias das juntas do robô a partir de uma dada trajetória desejada para o efetuador, resolveu-se o problema de cinemática inversa por meio de uma abordagem algébrica. Para a geração de trajetórias entre os pontos no espaço de trabalho do robô propõe-se a utilização de um algoritmo de aproximação de pontos através de splines compostas por polinômios de sétimo grau. Essa escolha garante a continuidade da função de posição, bem como de suas três primeiras derivadas, sendo essa uma condição necessária para a implantação de importantes leis e estratégias de controle (como, por exemplo, a estratégia em cascata, utilizada com sucesso no controle de sistemas servopneumáticos). O método proposto para a geração de splines possibilita, através do ajuste de parâmetros em função da exigência de cada aplicação, a obtenção de curvas no espaço das juntas com valores otimizados de jerk, aceleração ou velocidade. Para aplicação na geração de trajetórias para o robô, a interpolação dos pontos é realizada no espaço dos atuadores a fim de fornecer ao controlador as curvas de referência para posição, velocidade, aceleração e jerk. Para a demonstração da aplicação do método no seguimento de trajetórias, são utilizadas como referência curvas tridimensionais cujos valores numéricos são comparados com os resultados fornecidos a partir da metodologia proposta. Assim, uma vez calculadas as trajetórias em cada uma das juntas através da cinemática inversa, utiliza-se as transformações homogêneas da cinemática direta do robô, obtidas a partir do método de Denavit-Hartenberg, para obter a trajetória do efetuador e verificar a funcionalidade do modelo resultante. / This work consists of developing a strategy to generate optimized trajectories for a cylindrical robot with five degrees of freedom which is actuated pneumatically. As a result of the application of the developed method, trajectories in joint space are obtained and result in the proper motion of the robot’s end-effector according to a given optimizing criteria. In order to obtain the trajectories of the robot’s joints from a given desired trajectory for the end-effector, the problem of inverse kinematics was solved by an algebraic approach. To generate trajectories between points in the robot’s workspace it was proposed the use of an algorithm for approximation of points through splines composed by seventh degrees polynomials. This choice ensures the continuity of the position function as well as its first three derivatives. It is a necessary condition for the implementation of important laws and control strategies (for example, the cascade strategy which is successfully used in servo-pneumatic control systems). The proposed method to generate splines allows, through the adjustment of parameters taking into account the requirements of each application, the obtainment of curves in the joint space with optimized values of jerk, acceleration and speed. In order to apply the method in the generation of trajectories for the robot, the interpolation of the points is performed in the space of the actuators with the purpose of providing the controller reference curves for position, speed, acceleration and jerk. To demonstrate the application of the method in trajectory tracking, three-dimensional curves are used and their numerical values are compared with the results provided by the proposed methodology. Therefore, once the calculated trajectory in each joint through inverse kinematics is obtained, homogeneous transformations of the direct kinematics of the robot, obtained by Denavit-Hartenberg’s method, are employed to find out the trajectory of the end-effector and verify the functionality of the resulting model.

A Stewart Platform robot was designed, constructed, and programmed for use in Cal Poly’s ME 423 Robotics: Fundamentals and Applications laboratory section. A Stewart Platform is a parallel manipulator robot with six prismatic joints that has six degrees of freedom, able to be defined in both position and orientation. Its purpose is to supplement parallel robot material covered in lecture. Learning objectives include applying and verifying the Stewart Platform inverse kinematics and investigating the Stewart Platform’s operation, range of motion, and limitations. The Stewart Platform geometry and inverse kinematics were modeled and animated using MATLAB. The platform was then built using linear actuators, magnetic spherical bearings, and acrylic plates. Control of the Stewart Platform is achieved using an Arduino Due and a custom HexaMoto shield. Users interact with the system using a GUI created with MATLAB’s App Designer.

This thesis is focused in design low cost robotic manipulator known as SCARA. Chapters are sorted chronological by degrees of manipulator development. Thesis will present metods of inverse kinematics, that determines intaraction between joint rotation and cartesian coordina-tes of gripper. Next it introduces flowcharts for controlling machine and explains the control software determinater especially for microcontroller called Arduino MEGA.

This thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrated

The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.

SOFIA (Studies On FIssion with Aladin) est un programme expérimental innovant qui a pour objectif la mesure de plusieurs observables de la fission nucléaire : les taux de production isotopiques des fragments de fission, l'énergie cinétique totale des fragments, et la multiplicité des neutrons prompts. Ces informations sont obtenues pour une large variété d'actinides et de pré-actinides. Le recours à la cinématique inverse (le système fissionnant est le faisceau et non pas la cible) est le seul moyen d'identifier les fragments à la fois en charge et en masse. Le travail de doctorat présenté dans cette thèse porte sur l'expérience menée en Octobre 2014 et dédiée à la mesure de la fission de ² ³ ⁶ U induite par excitation coulombienne, soit l'analogue de la fission de ² ³⁵U induite par neutron.Les expériences SOFIA ont lieu à GSI (Darmstadt, Allemagne), la seule installation au monde capable de délivrer un faisceau d'uranium ² ³⁸ de 1 GeV par nucléon. Ce faisceau primaire subit une première fragmentation, dont les produits sont sélectionnés par le FRS (FRagment Separator) afin de former un faisceau secondaire du noyau d'intérêt, en l'occurrence ² ³ ⁶ U, qui est guidé vers l'expérience SOFIA où sa fission est déclenchée.Certains noyaux proches de ² ³ ⁶ U sont également transmis par le FRS : il est donc nécessaire de procéder à l'identification en masse et en charge du système fissionnant, puis d'identifier les deux fragments de fission. Dans les deux cas, l'identification, réalisée événement par événement, repose sur la mesure simultanée de la perte d'énergie dans un gaz, de la rigidité magnétique et du temps de vol. Seules les fissions induites par excitation coulombiennes sont pertinentes : la contribution des réactions nucléaires à la production des fragments doit donc être mesurée et soustraite.L'analyse présentée dans ce document inclut l'identification du faisceau secondaire en masse et en charge, l'identification en charge des fragments de fission, l'estimation de la contribution des réactions nucléaires, et finalement les taux de production des éléments obtenus dans la fission de ² ³ ⁶ U. Ces résultats sont comparés à ceux d'autres mesures réalisées sur SOFIA, et à des résultats antérieurs obtenus par d'autres techniques. / SOFIA (Studies On FIssion with Aladin) is an innovative experimental program which aims to measure several fission observables — the isotopic fission yields, the total kinetic energy of the fragments and the prompt neutron multiplicity, for a wide range of actinides and pre-actinides. The use of inverse kinematics (the fissioning system is the beam instead of the target) is the only way to fully identify fragments in charge and mass. The PhD work presented in this thesis concerns the experiment conducted in October 2014, and is focused on the Coulomb-induced fission of ² ³ ⁶ U, which can be regarded as the analog of the neutron-induced fission of ² ³⁵U.The SOFIA experiments take place in GSI (Darmstadt, Germany) because it is the sole facility in the world which delivers a beam of ² ³⁸U at 1 AGeV. This beam is fragmented and the products are selected by the FRS (FRagment separator) in order to deliver a secondary beam of nuclei of interest - ² ³ ⁶ U in our case, which is then guided to the SOFIA setup where its fission is triggered.Since some nuclides with close atomic and mass numbers to ² ³ ⁶ U are also transmitted by the FRS, it is necessary to identify the fissioning system from the secondary beam first, and then identify both the associated fission fragments. All identifications are performed event by event on the basis of measurements of the energy loss, the magnetic rigidity and the time of flight. Since we are only interested in the Coulomb-induced fission of ² ³ ⁶ U, the contribution of fragmentation fissions on the nuclear charge distribution of fission fragments has to be suppressed.The analysis in this paper involves the isotopic identification of the fissioning system, the nuclear charge identification of the fission fragments, the estimation of the nuclear contribution, and the extraction of the elemental fission yield. The results are then compared to other measurements performed with the SOFIA setup, as well as previous results obtained by other techniques.

This paper compares the two heuristic inverse kinematics methods: Forward And Backward Reaching Inverse Kinematics (FABRIK) and Cyclic Coordinate Descent (CCD) in the use cases concerning quadruped models. Unoptimised versions of the two algorithms were implemented into a game engine and evaluated on a quadruped model. The two algorithms were evaluated by computational time, iterations and average error. The results show that FABRIK outperformed CCD in all of our test scenarios, in number of iterations required, average error as well as function execution time. However, results also showed that FABRIK was less superior when targets were barely within reach, since one leg might be able to reach a target, but two connected legs might not be able to reach two targets because of their interference with each other. This suggests that to improve on FABRIK it should be optimised when considering a bipedal or quadruped model. / Den här artikeln jämför de två heuristiska Inverse Kinematics-metoderna: Forward And Backward Reaching Inverse Kinematics (FABRIK) och Cyclic Coordinate Descent (CCD) i användningsfallet fyrbenta modeller. Ooptimerade versioner av de två algoritmerna implementerades i en spelmotor och utvärderades på en fyrbent modell. De två algoritmerna utvärderades därefter baserat på beräkningstid, antal iterationer och avstånd till målet. Resultaten visar att FABRIK överträffade CCD i alla testscenarium, i antal iterationer, avstånd till mål samt funktionskörningstid. Resultaten visade dock även att FABRIK var mindre överlägsen när målen var precis utom räckhåll; detta då ett ben kunde nå ett mål om det utvärderades ensamt, men när benet kopplades samman med motstående ben via en höftled kunde inget av benen nå sina mål på grund av att de påverkade varandra. Detta tyder på att för att förbättra FABRIK bör den optimeras till att ta hänsyn till huruvida modellen har två eller fyra ben.

Brain-machine interfaces (BMIs) are the only currently viable means of communication for many individuals suffering from locked-in syndrome (LIS) – profound paralysis that results in severely limited or total loss of voluntary motor control. By inferring user intent from task-modulated neurological signals and then translating those intentions into actions, BMIs can enable LIS patients increased autonomy. Significant effort has been devoted to developing BMIs over the last three decades, but only recently have the combined advances in hardware, software, and methodology provided a setting to realize the translation of this research from the lab into practical, real-world applications. Non-invasive methods, such as those based on the electroencephalogram (EEG), offer the only feasible solution for practical use at the moment, but suffer from limited communication rates and susceptibility to environmental noise. Maximization of the efficacy of each decoded intention, therefore, is critical. This thesis addresses the challenge of implementing a BMI intended for practical use with a focus on an autonomous assistive robot application. First an adaptive EEG- based BMI strategy is developed that relies upon code-modulated visual evoked potentials (c-VEPs) to infer user intent. As voluntary gaze control is typically not available to LIS patients, c-VEP decoding methods under both gaze-dependent and gaze- independent scenarios are explored. Adaptive decoding strategies in both offline and online task conditions are evaluated, and a novel approach to assess ongoing online BMI performance is introduced. Next, an adaptive neural network-based system for assistive robot control is presented that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. Exploratory learning, or “learning by doing,” is an unsupervised method in which the robot is able to build an internal model for motor planning and coordination based on real-time sensory inputs received during exploration. Finally, a software platform intended for practical BMI application use is developed and evaluated. Using online c-VEP methods, users control a simple 2D cursor control game, a basic augmentative and alternative communication tool, and an assistive robot, both manually and via high-level goal-oriented commands.

Indiana University-Purdue University Indianapolis (IUPUI) / Khakpour, Zahra M.S.M.E., Purdue University, May 2017. Multibody Dynamics Model of A Full Human Body For Simulating Walking, Major Professor: Hazim El-Mounayri. Bipedal robotics is a relatively new research area which is concerned with creating walking robots which have mobility and agility characteristics approaching those of humans. Also, in general, simulation of bipedal walking is important in many other applications such as: design and testing of orthopedic implants; testing human walking rehabilitation strategies and devices; design of equipment and facilities for human/robot use/interaction; design of sports equipment; and improving sports performance & reducing injury. One of the main technical challenges in that bipedal robotics area is developing a walking control strategy which results in a stable and balanced upright walking gait of the robot on level as well as non-level (sloped/rough) terrains. In this thesis the following aspects of the walking control strategy are developed and tested in a high-fidelity multibody dynamics model of a humanoid body model: 1. Kinematic design of a walking gait using cubic Hermite splines to specify the motion of the center of the foot. 2. Inverse kinematics to compute the legs joint angles necessary to generate the walking gait. 3. Inverse dynamics using rotary actuators at the joints with PD (Proportional-Derivative) controllers to control the motion of the leg links. The thee-dimensional multibody dynamics model is built using the DIS (Dynamic Interactions Simulator) code. It consists of 42 rigid bodies representing the legs, hip, spine, ribs, neck, arms, and head. The bodies are connected using 42 revolute joints with a rotational actuator along with a PD controller at each joint. A penalty normal contact force model along with a polygonal contact surface representing the bottom of each foot is used to model contact between the foot and the terrain. Friction is modeled using an asperity-based friction model which approximates Coulomb friction using a variable anchor-point spring in parallel with a velocity dependent friction law. In this thesis, it is assumed in the model that a balance controller already exists to ensure that the walking motion is balanced (i.e. that the robot does not tip over). A multi-body dynamic model of the full human body is developed and the controllers are designed to simulate the walking motion. This includes the design of the geometric model, development of the control system in kinematics approach, and the simulation setup.