Hydraulic Robotic Leg for HYDROïD Robot: Modeling and Control

Autor: Ibrahim, Ahmed Abdellatif Hamed, Ammounah, Anas, Alfayad, Samer, Tliba, Sami, Ouezdou, Fethi Ben, Delaplace, Stéphane

Publikováno v: Journal of Robotics and Mechatronics
Journal of Robotics and Mechatronics, 2022, 34 (3), pp.576--587. ⟨10.20965/jrm.2022.p0576⟩

International audience; This paper presents a new hydraulic robotic leg for the humanoid hydraulic robot HYDROïD. The main parts of this leg are divided into two main parts; the knee subsystem and the ankle subsystem. The presented leg mechanism con

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::486d53a4fe6b926cfc508d4042328b25
https://doi.org/10.20965/jrm.2022.p0576

Using Backpropagation Algorithm for Neural Adaptive Control: Experimental Validation on an Industrial Mobile Robot

Autor: Patrick, Henaff, Delaplace, Stéphane

Publikováno v: International Centre for Mechanical Sciences (Courses and Lectures), vol 381. Springer, Vienna
International Centre for Mechanical Sciences (Courses and Lectures), vol 381. Springer, Vienna, 1997
Part of the International Centre for Mechanical Sciences book series
Morecki, A., Bianchi, G., Rzymkowski, C ROMANSY 11. International Centre for Mechanical Sciences Springer, Vienna. Part of the International Centre for Mechanical Sciences book series, 381 (347-354), 1997

International audience; This paper presents an original method in the use of neural networks and backpropagation algorithm to learn control of robotics systems. The originality consists to express the control objective as a criterion of which the gra

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::b95149628c66e84b81645eb0d12a0d34
https://hal.archives-ouvertes.fr/hal-01843719