Introduction à la commande des robots humanoïdes De la modélisation à la génération du mouvement

Ce livre expose les toutes récentes avancées technologiques en matière de robotique humanoïde. Après un rappel des notions mathématiques et physiques fondamentales, il expose les modèles et les techniques actuellement utilisées pour générer un mouvement humanoïde simple et propose des exemples de programmation en code Matlab® pour réaliser des mouvements de base (marche bipède, stabilisation, préhension d'un objet). L'ensemble de ces applications sont validées sur le robot japonais HRP-2.

1. Introduction. 1.1 Why SOI? 1.2 What is SOI? —Structure —. 1.3 Advantages of SOI. 1.4 History of the Development of SOI Technology. 1.5 Partially-Depleted (PD) and Fully-Depleted (FD) SOI . MOSFETs, and Future MOSFETs. 1.6 Summary. References. 2. FD-SOI Device and Process Technologies.2.1 Introduction. 2.2 FD-SOI Devices. 2.3 Theoretical Basis of FD-SOI Device Operation: DC Operation. 2.4 FD-SOI CMOS Process Technology. 2.5 Summary. References 3. Ultralow-Power Circuit Design with FD-SOI Devices. 3.1 Introduction. 3.2 Ultralow-Power Short-Range Wireless Systems. 3.3 Key Design Factor for Ultralow-Power LSIs. 3.4 Ultralow-Voltage Digital-Circuit Design. 3.5 Robustness of Ultralow-Voltage Operation. 3.6 Prospects and Issues in Low-Voltage Analog Circuits. 3.7 Technology Scaling, Analog Performance, and Performance Trend for Electrical Systems. 3.8 Low-Voltage Analog Circuit. 3.9 Fully-Depleted SOI Devices for Ultralow-Power Analog Circuits. 3.10 Future Direction of RF and Mixed Signal Systems. 3.11 Summary. References. 4. 0.5-V MTCMOS/SOI Digital Circuits.4.1 Introduction. 4.2 MTCMOS/SOI Circuits. 4.3 Adder. 4.4 Multiplier. 4.5 Memory. 4.6 Frequency Divider. 4.7 CPU. 4.8 Summary. References. 5. 0.5-1V MTCMOS/SOI Analog/RF Circuits.5.1 Introduction. 5.2 RF Building Blocks. 5.3 AD and DA Converters. 5.4 DC-DC Converter. 5.5 I/O and ESD-Protection Circuitry for Ultralow-Power LSIs. 5.6 Summary. References 6. SPICE Model for SOI MOSFETs.6.1 Introduction. 6.2 SPICE Model for SOI MOSFETs. 6.3 Parameter Extraction. 6.4 Example of SOI MOSFET Simulation. 6.5 Summary. References. 7. Applications. 7.1 Introduction. 7.2 1-V Bluetooth RF Transceiver and Receiver. 7.3 Solar-Powered, Radio-Controlled Watch. 7.4 Batteryless Short-Range Wireless System. 7.5 Summary. References. 8. Prospects for FD-SOI Technology. 8.1 Introduction. 8.2 Evolution of Nanoscale FD-SOI Devices. 8.3 Device and Substrate Technologies for Ultrathin-Body SOI MOSFETs. 8.4 Power-Aware Electronics and Role of FD-SOI Technology. 8.5 Summary. References.