ANR R2A2

The project:

Hydraulic Humanoid Robot: Energetic Autonomy Improvement Based on Design and Control. In French: "Robot humanoïde hydRaulique : Amélioration de l’Autonomie énergétique via la conception et la commande".

The goal of the project R2A2 is to improve the mechanical design of the HYDROïD Robot using hydraulic actuators as well as the development of walking control strategies for reducing the energy needed. This project aims at reaching the efficient energy for the third generation of humanoid robot. R2A2 relies on modeling results (movement, anatomy) coming from biomechanics field and optimal control strategies allowing the minimum energy in term of gait cycle. This project is the combination of mechanical design and control algorithm for acting on the energy consumption. The cooperation of these two aspects: mechanical design and automatic control, is one of the major contribution in term of methodology. To reach this aim, the complementary competences of four renowned research laboratories will be put together. These laboratories are namely the LIRMM of Montpellier (coordinator), the IRCCYN of Nantes, the LCFC of Metz and the LISV of Versailles. This consortium is completed by the BIA company working on mechatronic design of trn-key systems. This company will insure the quality of the mechanical design and the manufacturing of the prototype as well as the technology transfert.

ANR SHERPA

The project:

The biped robot SHERPA is a bio-inspired bipedal platform able to walk and carry load.

The Sherpa robot is build with (1) direct–drive capabilities, and (2) parallel-manner actuation. These two features tend to give the robot more human-like capabilities and improve walking capacities. Hence, direct-drive capabilities allow the robot to better interact with the environment (for instance, the robot