{"id":10378,"date":"2024-02-20T16:32:14","date_gmt":"2024-02-20T15:32:14","guid":{"rendered":"https:\/\/www.ibisc.univ-evry.fr\/subhi-jleilaty-defends-his-doctoral-thesis-on-tuesday-february-20-2024-control-architecture-for-an-electro-hydraulic-humanoid-robot-hydroid\/"},"modified":"2024-06-26T00:02:06","modified_gmt":"2024-06-25T22:02:06","slug":"subhi-jleilaty-defends-his-doctoral-thesis-on-tuesday-february-20-2024-control-architecture-for-an-electro-hydraulic-humanoid-robot-hydroid","status":"publish","type":"post","link":"https:\/\/www.ibisc.univ-evry.fr\/en\/subhi-jleilaty-defends-his-doctoral-thesis-on-tuesday-february-20-2024-control-architecture-for-an-electro-hydraulic-humanoid-robot-hydroid\/","title":{"rendered":"Subhi JLEILATY defends his doctoral thesis on Tuesday, February 20, 2024: \u201cControl architecture for an electro-hydraulic humanoid robot (HYDRO\u00efD)\u201d"},"content":{"rendered":"
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Doctoral thesis jury composition<\/h2>\n<\/div>\n
\n\n\n\n\n\n\n\n\n\n\n\n
Jujy member<\/th>\nTitle<\/th>\nInstitution<\/th>\nRole inside the jury<\/th>\n<\/tr>\n<\/thead>\n
Lama AL BASSIT<\/td>\nResearch Engineer<\/td>\nINRAE<\/td>\nExaminatrice<\/td>\n<\/tr>\n
Samer ALFAYAD<\/td>\nFull professor<\/td>\nUniversit\u00e9 Paris-Saclay, Univ.\u00a0\u00c9vry<\/td>\n\u00a0Co-directeur de th\u00e8se<\/td>\n<\/tr>\n
Antoine DEQUIDT<\/td>\nAssistant professor<\/td>\nUniversit\u00e9 Polytechnique Hauts-de-France<\/td>\nExaminateur<\/td>\n<\/tr>\n
Mohamad KHALIL<\/td>\nFull professor<\/td>\nUniversit\u00e9 Libanaise<\/td>\nRapporteur<\/td>\n<\/tr>\n
\u00c9ric MONACELLI<\/td>\nFull professor<\/td>\nUniversit\u00e9 de Versailles Saint-Quentin-en-Yvelines<\/td>\nExaminateur<\/td>\n<\/tr>\n
Lydie NOUVELIERE<\/td>\nAssistant professor<\/td>\nUniversit\u00e9 Paris-Saclay, Univ.\u00a0\u00c9vry<\/td>\nDirectrice de th\u00e8se<\/td>\n<\/tr>\n
Thibaut RAHARIJAONA<\/td>\nFull professor<\/td>\n\u00c9cole Nationale d’Ing\u00e9nieurs de Metz<\/td>\nRapporteur<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

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Subhi JLEILATY defends his doctoral thesis on Tuesday February 20, 2024, 10:30 a.m. on the Pelvoux site, room Ax101.<\/p>\n

Title: Control Architecture for electro-hydraulic humanoid robot\u00a0(<\/span>HYDRO\u00efD)<\/span><\/strong><\/h2>\n

Abstract<\/strong>:<\/h2>\n

As the world of robotics continues to develop products with human-like capabilities, humanoid robots have seen remarkable expansion in real-world applications and industrial environments. Humanoid robots are intended to interact with humans, navigate, and work in human-friendly environments. Therefore, they must imitate not only the anthropomorphism, locomotion, manipulations, and behaviors of humans but also how humans manage them to achieve the highest degree of human emulation. Despite significant improvements in the control of these robots so far, they are still far from reliably exhibiting human-like behaviors. As part of this thesis, our research team patented (WO2020173933A1) and developed a servo-electrohydraulic actuator (SEHA). This hybrid actuator combines the advantages of electric and hydraulic technologies, attempting to address some fundamental challenges in the field. While SEHA facilitates mechanical design and actuation systems by replacing the central hydraulic pump with local electro-hydraulic actuators that integrate the hydraulic tubes and contribute to the robot’s dynamic movements, the control architecture is the key to managing these movements and determining the capabilities of the robot to improve its behavior. This thesis focuses on developing a SEHA-based humanoid control architecture that emulates the functionality of the human nervous system. Classical architectures deal with sensorimotor cycles but not with the distribution of intelligence. Whether centralized, where all components are connected to a central unit, or decentralized with very limited coordination between control units, or even distributed control system, which uses the units as an interface between I\/O and the main controller without any ability to make a decision. The proposed solution is a real-time distributed control architecture. Joint controllers have the intelligence to make a decision, dominate the joint actuators, and inform the main controller of the joint status. Sensorimotor loops could be deployed in both the joint controller and the main controller. Real-time capabilities are provided in the main controller through the use of a real-time operating system (RTOS) alongside middleware operating a hard real-time communications system, accompanied by custom joint controllers operated by RTOS for embedded systems. The experimental validations were conducted on our electro-hydraulic humanoid robot (HYDRO\u00efD). The results demonstrated a 50% improvement in update rate compared to other humanoids and a 30% improvement in main processor and control task latency.<\/p>\n

Main contributions of this thesis :<\/strong><\/h2>\n