This thesis is about control and balance stability of leggedlocomotion. It also presents a combination of tools that makesit easier to design controllers for large and complicated robotsystems. The thesis is divided into four parts. The first part studies and analyzes how walking machines arecontrolled, examining the literature of over twenty machinesbriefly, and six machines in detail. The goal is to understandhow the controllers work on a level below task and pathplanning, but above actuator control. Analysis and comparisonis done in terms of: i) generation of trunk motion; ii)maintaining balance; iii) generation of leg sequence andsupport patterns; and iv) reflexes. The next part describes WARP1, a four-legged walking robotplatform that has been builtwith the long term goal of walkingin rough terrain. First its modular structure (mechanics,electronics and control) is described, followed by someexperiments demonstrating basic performance. Finally themathematical modeling of the robot’s rigid body model isdescribed. This model is derived symbolically and is general,i.e. not restricted to WARP1. It is easily modified in case ofa different number of legs or joints. During the work with WARP1, tools for model derivation,control design and control implementation have been combined,interfaced and augmented in order to better support design andanalysis. These tools and methods are described in the thirdpart. The tools used to be difficult to combine, especially fora large and complicated system with many signals and parameterssuch as WARP1. Now, models derived symbolically in one tool areeasy to use in another tool for control design, simulation andfinally implementation, as well as for visualization andevaluation—thus going from equation to action. In the last part we go back to“equation”wherethese tools aid the study of balance stability when complianceis considered. It is shown that a legged robot in a“statically balanced”stance may actually beunstable. Furthermore, a criterion is derived that shows when aradially symmetric“statically balanced”stance on acompliant surface is stable. Similar analyses are performed fortwo controllers of legged robots, where it is the controllerthat cause the compliance. <b>Keywords</b>legged locomotion, control, balance, leggedmachines, legged robots, walking robots, walking machines,compliance, platform stability, symbolic modeling

Several major design elements that we often take for granted in early coin-op videogames-including rule automation, real-time button play, and fiction as static theme-originated decades prior as innovations within the pinball industry. These similarities occurred on account of a number of key personnel doing leading work in both industries, convergent evolution around the business model shared by both game forms, and an irreversible trend of coin-op games becoming more differentiated and having better contextualized objectives. Although echoes of these qualities exist in more modern videogames, the relatively pure combination of these traits in early coin-op games resulted in a type of game style unfamiliar, or even off-putting, to players whose gameplay experiences are limited primarily to newer games from the past two decades. Because the coin-op gameplay formula achieved high replay value with little content, and required only minimal instruction, aspects of it have been rediscovered within the modern casual games movement and indie mobile games. Patterns from the historical relationship between pinball and coin-op videogames can serve as a lens for gaining another perspective on more recent issues and trends in the game industry, from the inherent issues with motion control to the rapid industry-changing shift toward social games.

<p>This thesis is about control and balance stability of leggedlocomotion. It also presents a combination of tools that makesit easier to design controllers for large and complicated robotsystems. The thesis is divided into four parts.</p><p>The first part studies and analyzes how walking machines arecontrolled, examining the literature of over twenty machinesbriefly, and six machines in detail. The goal is to understandhow the controllers work on a level below task and pathplanning, but above actuator control. Analysis and comparisonis done in terms of: i) generation of trunk motion; ii)maintaining balance; iii) generation of leg sequence andsupport patterns; and iv) reflexes.</p><p>The next part describes WARP1, a four-legged walking robotplatform that has been builtwith the long term goal of walkingin rough terrain. First its modular structure (mechanics,electronics and control) is described, followed by someexperiments demonstrating basic performance. Finally themathematical modeling of the robot’s rigid body model isdescribed. This model is derived symbolically and is general,i.e. not restricted to WARP1. It is easily modified in case ofa different number of legs or joints.</p><p>During the work with WARP1, tools for model derivation,control design and control implementation have been combined,interfaced and augmented in order to better support design andanalysis. These tools and methods are described in the thirdpart. The tools used to be difficult to combine, especially fora large and complicated system with many signals and parameterssuch as WARP1. Now, models derived symbolically in one tool areeasy to use in another tool for control design, simulation andfinally implementation, as well as for visualization andevaluation—thus going from equation to action.</p><p>In the last part we go back to“equation”wherethese tools aid the study of balance stability when complianceis considered. It is shown that a legged robot in a“statically balanced”stance may actually beunstable. Furthermore, a criterion is derived that shows when aradially symmetric“statically balanced”stance on acompliant surface is stable. Similar analyses are performed fortwo controllers of legged robots, where it is the controllerthat cause the compliance.</p><p><b>Keywords</b>legged locomotion, control, balance, leggedmachines, legged robots, walking robots, walking machines,compliance, platform stability, symbolic modeling</p>

Reproduction de : Habilitation à diriger des recherches : Sciences physiques. Génie électrique : Lille 1 : 2006. / N° d'ordre (Lille 1) : 555. Synthèse des travaux et articles en anglais en annexe. Curriculum vitae. Résumé. Titre provenant de la page de titre du document numérisé. Bibliogr. p. 135-140. Liste des publications et des communications.

Thèse de doctorat : Sciences appliquées : génie mécanique : Metz : 1999. / 1999METZ001S. bibliogr. p143-147.108 REF.

Face milling machinability investigation of two difficult-to-machine nickel-based superalloys, namely Inconel 718 and Waspaloy, has been carried out with four different types of tungsten carbide tools under various cutting conditions. The tools comprised of one double-layer CVD-TiCN+Al2O3 coated (KC994M), two PVD-TiN coated (KC720 and KC730) and one uncoated (KMF) tungsten carbide tools. The objectives of the study include investigation of tool performance, failure modes and wear mechanisms under the cutting conditions employed. In addition, surface integrity of the machined surfaces, with regard to surface finish, subsurface microhardness and metallographic examination of the subsurface microstructure, was investigated. CVD-coated KC994M gave the best overall performance in terms of tool life at low and high cutting conditions on both workpieces. The second best-performing tool was the uncoated KMF grade which gave as high tool lives as KC994M at lower cutting speeds. However at higher cutting speeds, KMF was generally outperformed by PVD-TiN coated tools. Short tool lives were obtained at higher cutting speeds of 75 and 100 m/min due to premature failure by chipping. Tool wear at low cutting speed range was due to a combination of progressive microchipping and plucking through a fracture/attrition related wear mechanism associated with cyclic workpiece adhesion and detachment and abrasion/diffusion-related flank wear. Plucking and microchipping were the dominant wear mechanisms. Coating layers on the rake face of both CVD and PVD coated tools were almost completely removed within the first few seconds of cutting at all cutting speeds tested, thus becoming ineffective. On the flank face, however, they remained intact for a longer period and hence increasing tools performance at the medium cutting speed range. Analysis of the subsurface microstructures and microhardness measurements showed that plastic deformation was the predominant effect induced onto the machined surface, the degree of which influenced by the cutting speed, tool wear and prolonged machining. In addition surface irregularities in the form of tearing and embedded hard particles were found to occur which was mainly associated with the chipping dominated wear mode.

Thesis (Ph. D.)--University of Pennsylvania, 1984. / Includes bibliographical references (p. [196]-206) and index.

Thèse (Ph. D.)--Université Laval, 2008. / Titre de l'écran-titre (visionné le 9 mai 2008). Bibliogr.

Thesis (Ph. D.)--University of Pennsylvania, 1984. / Includes bibliographical references (p. [196]-206) and index.

Th. 3e cycle--Génie électrique--Toulouse--I.N.P., 1983. N°: 163.