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Interaction humaine dans une plateforme de robot parallèle de grand espace de travail avec un environnement virtuel

Abstract : The thesis objective relates to the denition, the implementation and the evaluation of a Motion Cueing Algorithm taking into account the perceptual constraints of the vestibular systemin humans and the constraints related to the movement physics of the used simulator. The latter consists of a series-parallel robotic platform with 8 degrees of freedom, entirely designed in the laboratory and intended primarily to assist people with motor disabilities. This sensory restitution requires multidisciplinary research work in robotics and virtual reality. Moreover, a formalization of dynamic modeling, based on the state of the art, was adapted and the dynamic parameters optimized and identied for the 8 degrees of freedom motion platform. Several methods of trajectory generation, exploitation of the platform redundancy, have been studied, implemented,and compared. The most e cient particle swarm optimization (PSO) method was chosen. This algorithm is then used to optimize the parameters of the platform controller in sliding mode. The simulator was used for a virtual reality ski application reproducing the Combloux resort in Haute-Savoie dedicated to disabled people. The simulation results show a very good trajectory tracking behavior and a good reduction in terms of oscillations. This work will be continued through the use of multi-sensory human-assisted virtual reality interfaces.
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Submitted on : Wednesday, December 9, 2020 - 5:08:10 PM
Last modification on : Monday, December 13, 2021 - 9:17:18 AM
Long-term archiving on: : Wednesday, March 10, 2021 - 7:50:33 PM


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  • HAL Id : tel-03049170, version 1


Taha Houda. Interaction humaine dans une plateforme de robot parallèle de grand espace de travail avec un environnement virtuel. Automatique / Robotique. Université Paris-Saclay, 2020. Français. ⟨NNT : 2020UPASG047⟩. ⟨tel-03049170⟩



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