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Page 1: Centre national de la recherche scientifique · 2014-09-08 · ACBEDGF HIFKJ L ANM OGPRQ FSJ T9U(VGWYX[Z\X^]`_aU b cYd^e X^] f T9U(VGWYX[Z\X^]%g\h i2e X^] j kml b e n7ZGi2o b cpn

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Analyse

Mouvement

Modélisations principes et loisméthodes

Synthèse

mouvement et

paramètres du mouvement

invariantsdonnées

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x � ù�ôrÝ ñ-ê�ícê�àV÷ßø�Ý

Forces et moments résultants

Analyse de la dynamique

Algorithme d’adaptation

Synthèse par dynamique directe

Mouvement synthétiséMouvement adapté

Base de donnéesde mouvements

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x Ø ù�ôrÝ ñ-ê�ícê�àV÷ßø�Ý

de mouvementsBase de données

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n mouvements Analyse de la dynamique {n morphologies

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s

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s

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τ = Kp(Θ − Θd) + Kd(Θ − Θd) )��Ú x�x +

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� EL�0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 20

1000

2000

3000

4000

5000

6000

coefficient alpha

cum

ul d

es e

rreu

rs R

MS

��� �°qälñ.ø���Ú x Ö Ê �Æ!�8�I�"!�� %�&��¶(z�¨��!&ï�I�"I&�£�& H (�� Ú�)�(�+ � ��I��çKL!�#�"� H ���¨��!��£I&!���¨�S� ��®z��#;K¨��! ( 't �{ '�(��¨"I&���%��� α �c×Ú����Z×Ú Ö��c×Ú { � x Ú�×�� x Ú���� x Ú� �� x Ú���"#+�Ú�×Ú�)OJw+ � �%�"I&®%I&�¨�+�& �%"�;��"I&���+§1¢ ������������ x �& �º Z§ª�\����!�#£(�®n��·�� �1"!:u��!��"#;K¨��!X�& �1� �$,®n�"K¨"!$#�� α Ú

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0 10 20 30 40 50 60 70 80 90 1000

100

200

300

400

500

600

700

% de cycle

FRS

(New

ton)

� ET�0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.20

100

200

300

400

500

600

700

800

900

1000

coefficient theta

cum

ul d

es e

rreu

rs R

MS

��� �°qälñ.ø$��Ú x�{ Ê �¦!�8�I�"!�� ç�In�;#¦âS�¨1�&<®z��I&'t"®z"!�# Ú7)�(�+ � ��I��aKL!$#�"� H ���¨��!��/I&!�<�¨�S� ��®z��#;K¨��!\( 't �{ '�(��¨"I&��� θ �@×Ú { �V×Ú { ����×Ú � �@×Ú � ��� x Ú�×�� x Ú�×���� x Ú x "# x Ú x �Ú�)OJw+ � �£�"I&®%I&�¨�£�& �<"�;��"I&���£§1¢ ������������ x �& �! -§ª�\����!�#ç(�®n�«·�� �1"!ª���!��"#;K¨��!X�& �<� �S,®n�"K¨"!�#�� θ Ú

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��� �;I&�L#«(�!�#� �ÿ����!�# H ��� ��"!$#�� �z"! ZKLï�I&�����Ú x�� )�(�++"#��¨ �Q"�;��"I&���Q§1¢ �|�"I&®�I&�¨� �z"! ZKLï�I&����Ú x�� )OJw+´Ú� ����� � I� �¶(�'SKL#� ���� �&� �"�����¨#��q�8��"�;��"I&�X�"�����¨#�®n(�K¨���¨ ��� (��«(��"#��"�;K¨�;#;K � I� � H ·$âS�;K � I� ������!$#H ��� ��"�;'t� � Ú � ����� � I�<�¶(�'$KL#� ���«<�"�����¨#����8��(�® H �LKL#;I��&£�&<�¶(%�&��I&J&�¨1J?������1����( H&H I&K��"�����¨#��¡I�� � Ir��þ�& �£'�(��¨"I&���ªKL!$'�(��LK¨�& � Ú ­ � I&K-�;KLï�!&Kz�@ � Ir��þn� �®z��®z"!�#��?�¨ H ���S� ���;I��£��� KL!�#�"� H ���¶(�#;K¨��!|�&��KL#��·@(�!&ït"�^�¨²®z�S�&<�&²�¨�S� ��®z��#;K¨��!�� H (��e´Ù&"® H �¨ H ��I&�aI&!�<� ��I&�������� � I&K@!r�� �;# H (��aït�"���1��(�!��!���#;��%( H&H ���S��·��ÚÜ�Ý«ª ¬ à�*aú ù+3«*Â)�58.!ù�ù�3�:�üZ.q2�:=ß10®­�2@=?.<0+>yù ß²=@24)+*Dü0��.²=9¯<*F>

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0 10 20 30 40 50 60 70 80 90 1000

100

200

300

400

500

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700

800

% de cycle

FRS

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� EL�0.7 0.8 0.9 1 1.1 1.2 1.3 1.4

0

200

400

600

800

1000

1200

1400

1600

1800

coefficient gamma

cum

ul d

es e

rreu

rs R

MS

��� �°qälñ.ø���Ú x�� Ê �Æ!�8�I�"!�� 1�&<�¶(ª'$KL#� �«��²�&<�&� H �¶(�� "®z"!�#²�&²�8� ·$I&®n(�!��"�8�&�Ú�)�(�+ � ��I��eKL!�#�"� H ���¨��!��I&!�²®n(����«·�£( 't � { '�(��¨"I&��� γ �$×Ú�ØtÖ��$×Ú Ö�����×Ú { ��S×Ú � ��� x Ú�×�� x Ú x � x Ú�����"# x Ú� � Úw)OJw+ � �e�"I&®%I&�¨��& �<"�;��"I&���ç§1¢ �\����������� x �& �º -§£�\�«��!�#1(�®n��·�� �£"!;���!��"#;K¨��!X�& �1� �S,®n�"K¨"!�#�� γ Ú� I�"�ç�& �ç(��"#;K¨��!��ª´Ù#�"�;!� �ç��I&�<!r� KL® H ���;#� � I�"�c®z"®%J&��+"#ç� (��¨�"I&�¨"�£�¨ �<!���I&'t (�IÙ�#�������"I&���!�� � ���«(�KL�� � H ��I&�ß�� � H �"#�"�r�;KLït��I&��"I���"®z"!�#-�¨F®%$"®ze®z��I&'t"®z"!�# Ú ­ �"K$ �;#cI&!�e(�I&#;��a'SK¨�;K¨��!�&ª�8� I&#;KL�LK¨�«(�#;K¨��!X�&ª�8��(�!@(��Lâ���"!��âS!@(�®QK � I��KL!�'t"�������"�L�¨ H "I&#!$"#;��ªI&#;KL�¨ H ��I&�<�& �1( H&H �LK¨� (6¥#;K¨��!������ �¨Q�� � H �"#��I ®z��I&'t"®z"!$#� �;# H �;KL®z�����K¶(��^��I J&K¨"! H ��I&���"#;I��K¨"�%�¶( H ��� H (�ï�(�#;K¨��!�&��8� KL!�8�I�"!�� ���� I&!��u����� �´Ù#�"�;!��Ú� ��I��ªKL�L�LI��;#;����!���K¨�"KF� �#¦â H +����( H&H �LK¨� (�#;K¨��!Ó��(�!��ª�¨Q� (������¬�8� ·$I&®n(�!��"�8�&z#;�«(�!�� H ���;#��I&!H ��K¨�&�<�&% �×�èSïnþ+�¶(�®n(�KL!�ï�(�I���·��Ú�¤F!�#�"�;®z��&ª#������«"I&�1� �"Kc� � I&KL'�(�I&#çþQ(��;��I&#�"�%�x Ú<¤a!z#;�«(�!��;�¶(�#;K¨��!���I&! H ��K¨�&�a� ���;�� � H ��!���(�!$#^þ� �×�èSï%�;I&�F�¨²�&"�;!&K¨"�e®z"®�J&��1�&q�¶(��«·@(��¨!�

�"KL!��"®n(�#;K � I���� H ��� �«"!�#«(�!�#£�¨ªJ&�«(��<ï�(�I��«·���@���� �;#A¥Æþ6¥¦�KL����¶(�®n(�KL!rÚ−−−−−−−−−−−→Poidsmaingauche

=−−−−−−−−−−−→Poidsmaingauche

+ (30.0 ×−~g) )O��Ú x �+�Ú<¤a!�����#«(�#;K¨��!ÿ�"I&!�®z��®z"!$#Zþ^�8��´Ù#;���"®QKL#��e�&-�¶(q®n(�KL!��&�,��!&K H (��r�¨ H ��K¨�&�c�;I H&H �¨�"®z"!$#«(�KL��

"#n�¶( �K¨�;#«(�!�� �"!�#;����¨ H ��KL!$#n�K¨�;#«(���) H ��KL!�#n����( H&H �LK¨� (�#;K¨��!y�&��¶([������ �+�"#Q�¨ H ��KL!$#����´Ù H �� ���;K¨��!\�& �a®z��®z"!$#�� � I&K@ �;#e��(�!��/!���#;��²®z�S�&¸"�¨<�¨ H ��KL!�# H ��� ÙKL®n(��V�&<�¶(ª®n(�KL!rÚ−−−−−−−→Cmaingauche

=−−−−−−−→Cmaingauche

+(30.0×−~g)∧−−−−−−−−−−−−−−−−−−−−−−−→(Proxmaingauche

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