{"id":11366,"date":"2022-11-25T10:59:09","date_gmt":"2022-11-25T09:59:09","guid":{"rendered":"https:\/\/www.generationrobots.com\/blog\/?p=11366"},"modified":"2025-03-31T15:34:56","modified_gmt":"2025-03-31T13:34:56","slug":"unitree-robotics-les-chercheurs-de-la-carnegie-mellon-university-apprennent-aux-robots-chiens-a-coordonner-leur-membres","status":"publish","type":"post","link":"https:\/\/www.generationrobots.com\/blog\/fr\/unitree-robotics-les-chercheurs-de-la-carnegie-mellon-university-apprennent-aux-robots-chiens-a-coordonner-leur-membres\/","title":{"rendered":"Unitree Robotics : les chercheurs de la Carnegie Mellon University apprennent aux robots-chiens \u00e0 coordonner leurs membres"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"11366\" class=\"elementor elementor-11366\" data-elementor-post-type=\"post\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-17deec2 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"17deec2\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-2e4822d\" data-id=\"2e4822d\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-694188b elementor-widget elementor-widget-text-editor\" data-id=\"694188b\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Au cours des derni\u00e8res ann\u00e9es, les performances des <strong>robots quadrup\u00e8des<\/strong> n\u2019ont cess\u00e9 d\u2019\u00e9voluer, y compris sur des <strong>terrains difficiles<\/strong>. Les robots mobiles sont parfaitement adapt\u00e9s aux <strong>missions d&rsquo;inspection<\/strong>, mais nativement, ils ne sont pas faits pour les t\u00e2ches int\u00e9grant de la pr\u00e9hension. Souvent, les ing\u00e9nieurs travaillant avec les robots quadrup\u00e8des vont ajouter des p\u00e9riph\u00e9riques externes. Ceci permet de d\u00e9multiplier le nombre de t\u00e2ches capables d\u2019\u00eatre effectu\u00e9es par ces types de robots. C\u2019est ce que font les roboticiens de chez <strong><a class=\"catalogue\" title=\"Unitree Robotics- Robots Quadrup\u00e8des\" href=\"\/fr\/534-unitree-robotics-robots-quadrupedes\">Unitree Robotics<\/a><\/strong>, un des leaders sur le march\u00e9 dans la conception des robots chiens. Gr\u00e2ce \u00e0 l\u2019IA et aux nombreux capteurs disponibles sur le march\u00e9, il est d\u00e9sormais possible d\u2019apprendre \u00e0 un robot-chien \u00e0 <strong>ramasser des objets<\/strong> et \u00e0 <strong>appuyer sur des boutons<\/strong> mais aussi \u00e0 effectuer des t\u00e2ches encore plus complexes.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e2331d3 elementor-widget elementor-widget-image\" data-id=\"e2331d3\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"1200\" height=\"500\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/unitreerobotics-evolution-robots-quadrupedes-1.jpg\" class=\"attachment-full size-full wp-image-11408\" alt=\"Evolution des robots-chiens d&#039;Unitree Robotics\" srcset=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/unitreerobotics-evolution-robots-quadrupedes-1.jpg 1200w, https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/unitreerobotics-evolution-robots-quadrupedes-1-300x125.jpg 300w, https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/unitreerobotics-evolution-robots-quadrupedes-1-1024x427.jpg 1024w, https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/unitreerobotics-evolution-robots-quadrupedes-1-768x320.jpg 768w\" sizes=\"(max-width: 1200px) 100vw, 1200px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-3b4e816 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"3b4e816\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-cd1c362\" data-id=\"cd1c362\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-bdfe156 elementor-widget elementor-widget-text-editor\" data-id=\"bdfe156\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2>Une universit\u00e9 am\u00e9ricaine utilise la \u201cpolitique unifi\u00e9e\u201d pour coordonner un bras manipulateur avec le robot Go1 d\u2019Unitree Robotics<\/h2>\n \n<p>Un bras robotique peut augmenter consid\u00e9rablement le champ d&rsquo;applications des robots quadrup\u00e8des.<\/p>\n \n<p>La m\u00e9thode de base pour les quadrup\u00e8des dot\u00e9 d\u2019un bras robotique est de est de faire en sorte que le contr\u00f4leur g\u00e8re s\u00e9par\u00e9ment la marche et la pr\u00e9hension. Cette m\u00e9thode n\u2019est pas la plus optimale. Elle n\u00e9cessite beaucoup de temps et d\u2019efforts dans sa mise en place. De plus, le risque d\u2019erreurs se propageant \u00e0 travers les diff\u00e9rents modules est \u00e9lev\u00e9, ainsi que la probabilit\u00e9 d\u2019avoir des mouvements saccad\u00e9s.<\/p>\n \n<p>Pour faire face \u00e0 cette probl\u00e9matique, l&rsquo;<strong>universit\u00e9 Carnegie Mellon \u00e0 Pittsburgh<\/strong> a d\u00e9cid\u00e9 de mettre en place un apprentissage par renforcement, et de tester un <strong>syst\u00e8me de politique unifi\u00e9e<\/strong> permettant de contr\u00f4ler le syst\u00e8me entier (quadrup\u00e8de + bras). Cette m\u00e9thode permet d\u2019obtenir des mouvements plus fluides, plus pr\u00e9cis et une meilleure coordination bras\/pattes.<\/p> \n \n<p>Dans ce projet men\u00e9 par 2 \u00e9tudiants et leur professeur, le robot utilis\u00e9 est le <strong><a class=\"catalogue\" title=\"Robot chien Go1 (Edu)\" href=\"\/fr\/403919-robot-chien-go1.html#\/252-version-edu\">Go1<\/a><\/strong> de Unitree Robotics, r\u00e9put\u00e9 pour sa fiabilit\u00e9 et ses excellentes performances, pour un investissement peu \u00e9lev\u00e9. Le bras mont\u00e9 sur le robot est le <a class=\"catalogue\" title=\"Bras robotique 5 axes WidowX 250\" href=\"\/fr\/403514-bras-robotique-widowx-250.html\">WidowX 250<\/a> (6 axes) de chez Trossen Robotics.<\/p>\n<p>L&rsquo;exp\u00e9rimentation a prouv\u00e9 que le syst\u00e8me de politique unifi\u00e9e permet d\u2019obtenir des comportements agiles et dynamiques dans plusieurs cas de figure.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-2783f24 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"2783f24\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-2f32a79\" data-id=\"2f32a79\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-f3a4cfd elementor-widget elementor-widget-video\" data-id=\"f3a4cfd\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/teaser-wbc.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-4c3bb0a\" data-id=\"4c3bb0a\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-863e4f5 elementor-widget elementor-widget-video\" data-id=\"863e4f5\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/teaser-pick.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-af303fd elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"af303fd\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-beea691\" data-id=\"beea691\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-918787f elementor-widget elementor-widget-text-editor\" data-id=\"918787f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><i>La \u201cpolitique unifi\u00e9e\u201d permet d\u2019obtenir des comportements agiles et dynamiques du corps et du bras du robot<\/i><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-f6a1203 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"f6a1203\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-39c7fae\" data-id=\"39c7fae\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-685a9f2 elementor-widget elementor-widget-text-editor\" data-id=\"685a9f2\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2>Comparatif<\/h2>\n \n<p>Les manipulateurs commerciaux, tels que <a class=\"catalogue\" title=\"Payload: Boston Dynamics Spot Arm\" href=\"\/fr\/403824-payload-boston-dynamics-spot-arm.html\">Boston Dynamics Spot with Arm<\/a>, repr\u00e9sentent un gros investissement pour les universit\u00e9s ou les laboratoires de recherche. L\u2019\u00e9quipe du projet a trouv\u00e9 une alternative moins on\u00e9reuse en choisissant les marques Unitree Robotics et Trossen Robotics, afin de concevoir leur propre plateforme autonome.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-aaf05ff elementor-widget elementor-widget-image\" data-id=\"aaf05ff\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"1793\" height=\"623\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/comparatif-manipulateurs-commerciaux-1.jpg\" class=\"attachment-full size-full wp-image-11409\" alt=\"Comparatif des diff\u00e9rents bras robotiques pour quadrup\u00e8des\" srcset=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/comparatif-manipulateurs-commerciaux-1.jpg 1793w, https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/comparatif-manipulateurs-commerciaux-1-300x104.jpg 300w, https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/comparatif-manipulateurs-commerciaux-1-1024x356.jpg 1024w, https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/comparatif-manipulateurs-commerciaux-1-768x267.jpg 768w, https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/comparatif-manipulateurs-commerciaux-1-1536x534.jpg 1536w\" sizes=\"(max-width: 1793px) 100vw, 1793px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-09c1e0a elementor-widget elementor-widget-text-editor\" data-id=\"09c1e0a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2>T\u00e9l\u00e9op\u00e9ration<\/h2>\n\n<p>La politique unifi\u00e9e permet de contr\u00f4ler toutes les articulations (12DoF pour les pattes et 6DoF pour le bras) \u00e0 50 Hz en utilisant seulement une <strong>Raspberry Pi<\/strong>.<\/p>\n\n<p>L\u2019architecture logicielle du bras WidowX 250s est install\u00e9 sur la NVIDIA Jetson du robot chien Go1 gr\u00e2ce aux <a class=\"catalogue\" title=\"Github Interbotix ROS manipulators\" href=\"https:\/\/github.com\/Interbotix\/interbotix_ros_manipulators\"target=\"_blank\" rel=\"noreferrer noopener\">packages officiels<\/a> fournis par Trossen Robotics. Le protocole UDP est utilis\u00e9 pour la communication entre la Raspberry Pi et la NVIDIA Jetson.<\/p>\n\n<p>L\u2019ouverture et la fermeture du gripper ne font pas partie de la politique unifi\u00e9e, et sont contr\u00f4l\u00e9es par un <strong>joystick<\/strong> pendant les diff\u00e9rentes exp\u00e9rimentations de t\u00e9l\u00e9op\u00e9ration. Pendant les tests avec des comportements bas\u00e9s sur le suivi visuel, une politique script\u00e9e est utilis\u00e9e pour g\u00e9rer le gripper.<\/p>\n\n<p>Avec cette combinaison d\u2019apprentissage par renforcement et de politique unifi\u00e9e, la plateforme robotique peut fonctionner de mani\u00e8re totalement autonome dans 3 modes : t\u00e9l\u00e9op\u00e9ration, suivi visuel et r\u00e9p\u00e9tition des d\u00e9monstrations. Le robot peut ainsi :<\/p>\n<ul>\n<li>Placer un stylo dans un gobelet \u00e9loign\u00e9<\/li>\n<li>Ramasser un gobelet et le jeter dans une poubelle en hauteur<\/li>\n<li>Ramasser un objet sur un terrain difficile<\/li>\n<li>Appuyer sur un bouton pour entrer dans un b\u00e2timent<\/li>\n<\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-e71628e elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"e71628e\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-0e8fc57\" data-id=\"0e8fc57\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-c9b5f28 elementor-widget elementor-widget-video\" data-id=\"c9b5f28\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/place.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-24504f4\" data-id=\"24504f4\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-e735064 elementor-widget elementor-widget-video\" data-id=\"e735064\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/garbage.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-7c7a19c elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"7c7a19c\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-bd6650c\" data-id=\"bd6650c\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-409b818 elementor-widget elementor-widget-video\" data-id=\"409b818\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/bush.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-484e297\" data-id=\"484e297\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-51114a3 elementor-widget elementor-widget-video\" data-id=\"51114a3\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/door.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-2a9a12a elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"2a9a12a\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-ed287d1\" data-id=\"ed287d1\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-901d8cd elementor-widget elementor-widget-text-editor\" data-id=\"901d8cd\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2>Suivi visuel<\/h2>\n<p>Pour le suivi visuel, le robot est \u00e9quip\u00e9 d\u2019une cam\u00e9ra de profondeur <a class=\"catalogue\" title=\"Intel\u00ae RealSense\u2122 Camera de profondeur D435i\" href=\"\/fr\/403758-intel-realsense-camera-de-profondeur-d435i.html\">RealSense D435i<\/a> de chez Intel.<\/p>\n\n<p>Le robot est charg\u00e9 de suivre un AprilTag, la politique unifi\u00e9e ajuste automatiquement le contr\u00f4le de tout le corps pour suivre le AprilTag. Comme nous pouvons le constater, le robot plie ses pattes en coordination avec le bras, afin de garder la cam\u00e9ra pr\u00e8s du AprilTag.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-f2697f9 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"f2697f9\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-58d290f\" data-id=\"58d290f\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-cde4ac6 elementor-widget elementor-widget-video\" data-id=\"cde4ac6\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/human-tracking.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-a21f773\" data-id=\"a21f773\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-6658aa6 elementor-widget elementor-widget-video\" data-id=\"6658aa6\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/tag-tracking.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-1d4ae1f elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1d4ae1f\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-d995b29\" data-id=\"d995b29\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-6ea0ab4 elementor-widget elementor-widget-video\" data-id=\"6ea0ab4\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/vis-easy.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-8ca905e\" data-id=\"8ca905e\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-719987a elementor-widget elementor-widget-video\" data-id=\"719987a\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/vis-hard.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-9b9adc9 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"9b9adc9\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-91f34b3\" data-id=\"91f34b3\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-97a20ee elementor-widget elementor-widget-text-editor\" data-id=\"97a20ee\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2>R\u00e9p\u00e9tition des d\u00e9monstrations<\/h2>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-78a9eee elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"78a9eee\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-d435d87\" data-id=\"d435d87\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-c2e9dc2 elementor-widget elementor-widget-video\" data-id=\"c2e9dc2\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/demo.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-b29a348\" data-id=\"b29a348\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-7b6944a elementor-widget elementor-widget-video\" data-id=\"7b6944a\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.generationrobots.com\/blog\/wp-content\/uploads\/2022\/11\/wiping.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-599cc51 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"599cc51\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-c3a7d57\" data-id=\"c3a7d57\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-d926908 elementor-align-center elementor-widget elementor-widget-button\" data-id=\"d926908\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"button.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-button-wrapper\">\n\t\t\t\t\t<a class=\"elementor-button elementor-button-link elementor-size-sm\" href=\"https:\/\/static.generation-robots.com\/media\/deep-whole-body-control.pdf\">\n\t\t\t\t\t\t<span class=\"elementor-button-content-wrapper\">\n\t\t\t\t\t\t\t\t\t<span class=\"elementor-button-text\">D\u00e9couvrir le rapport complet<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t<\/a>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-40f88b0 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"40f88b0\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-106b958\" data-id=\"106b958\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-83034b6 elementor-widget elementor-widget-text-editor\" data-id=\"83034b6\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2>Int\u00e9ress\u00e9 ?<\/h2><p>Notre bureau d\u2019\u00e9tudes en ing\u00e9nierie a la capacit\u00e9 de r\u00e9pondre \u00e0 de tr\u00e8s nombreuses probl\u00e9matiques innovantes, comme l\u2019int\u00e9gration d\u2019un bras manipulateur sur un robot autonome ou semi-autonome. Nous avons r\u00e9cemment int\u00e9gr\u00e9 des bras collaboratifs sur 4 robots mobiles omnidirectionnels : d\u00e9couvrir notre <a href=\"\/blog\/fr\/integration-de-4-robots-mobiles-omnidirectionnels-avec-des-bras-collaboratifs-sur-colonne-telescopique-pour-luniversite-de-fribourg\/\">cas client.<\/a><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-7d2ea4e elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"7d2ea4e\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-4cd5c5b\" data-id=\"4cd5c5b\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-4ba34be elementor-widget elementor-widget-image\" data-id=\"4ba34be\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/content.generationrobots.com\/livre-blanc-robots-quadrupedes\">\n\t\t\t\t\t\t\t<img decoding=\"async\" src=\"https:\/\/static.generation-robots.com\/img\/banniere-livre-blanc-robots-quadrupedes-fr.jpg\" title=\"\" alt=\"Banni\u00e8re livre blanc robots quadrup\u00e8des\" loading=\"lazy\" \/>\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Au cours des derni\u00e8res ann\u00e9es, les performances des robots quadrup\u00e8des n\u2019ont cess\u00e9 d\u2019\u00e9voluer, y compris sur des terrains difficiles. Les robots mobiles sont parfaitement adapt\u00e9s aux missions d&rsquo;inspection, mais nativement, ils ne sont pas faits pour les t\u00e2ches int\u00e9grant de la pr\u00e9hension. Souvent, les ing\u00e9nieurs travaillant avec les robots quadrup\u00e8des vont ajouter des p\u00e9riph\u00e9riques externes.[&#8230;]<br \/> <a class=\"button\" href=\"https:\/\/www.generationrobots.com\/blog\/fr\/unitree-robotics-les-chercheurs-de-la-carnegie-mellon-university-apprennent-aux-robots-chiens-a-coordonner-leur-membres\/\" style=\"float:right;\">Read this article &gt;&gt;<\/a><\/p>\n","protected":false},"author":310,"featured_media":11397,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[10525],"tags":[],"class_list":["post-11366","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-cas-clients-et-applications"],"_links":{"self":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts\/11366","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/users\/310"}],"replies":[{"embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/comments?post=11366"}],"version-history":[{"count":49,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts\/11366\/revisions"}],"predecessor-version":[{"id":20095,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts\/11366\/revisions\/20095"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/media\/11397"}],"wp:attachment":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/media?parent=11366"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/categories?post=11366"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/tags?post=11366"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}