@prefix dcat: <http://www.w3.org/ns/dcat#> .
@prefix dct: <http://purl.org/dc/terms/> .
@prefix foaf: <http://xmlns.com/foaf/0.1/> .
@prefix vcard: <http://www.w3.org/2006/vcard/ns#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<https://rec.harvest-normandie.data4citizen.com/dataset/oai-hal-tel-00864692v1> a dcat:Dataset ;
    dct:description """
              The purpose of this thesis is to design, model and control of a personal assistant robot used for domestic tasks. In order to make the robot’s design more efficient, a virtual simulation system is built using dynamic simulation software. The kinematic model is set up based on modified D-H principle. The dynamic model is built using the Lagrange theorem and elaborated in Matlab. We also employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A hybrid algorithm of combining the Jacobian pseudoinverse algorithm with Rapidly-Exploring Random Tree method is presented for collision-free path planning of a redundant manipulator. An intelligent robust controller based on neural network is introduced for the coordinated control of a mobile manipulator. This method does not require an accurate model of the robot. Unknown dynamic parameters of the mobile platform and the manipulator are identified and compensated in closed-loop control using RBF neural network. A similar control algorithm is presented for coordinated force/motion control of a mobile manipulator suffering both holonomic and nonholonomic constraints. Kinematics and dynamics of a dexterous hand manipulating an object with known shape by rolling contacts are derived. A computed torque control algorithm is presented to ensure firm grip, avoid slippage and well track a given motion imposed to the object. The validation of models and different control laws were made by the co-simulation Matlab / virtual model
            """ ;
    dct:identifier "NNT: 2013ECLI0005" ;
    dct:issued "2026-05-09T15:52:36.147998"^^xsd:dateTime ;
    dct:language "en" ;
    dct:modified "2026-05-09T15:52:36.148002"^^xsd:dateTime ;
    dct:publisher <https://rec.harvest-normandie.data4citizen.com/organization/cce9db95-46d9-4dc2-84b6-764215d0a002> ;
    dct:title "Design and Control of a Personal Assistant Robot" ;
    dcat:contactPoint [ a vcard:Organization ;
            vcard:fn "CCSD" ] ;
    dcat:distribution <https://rec.harvest-normandie.data4citizen.com/dataset/oai-hal-tel-00864692v1/resource/756eefb4-2243-4ded-b4d1-20bdd2bcf55c> ;
    dcat:keyword "bond-graph",
        "dexterous-manipulation",
        "dynamic-simulation",
        "infoeu-reposemanticsdoctoralthesis",
        "manipulation-dextre",
        "modeling",
        "modelisation",
        "neural-networks",
        "personal-assistant-robot",
        "prototype-virtuel",
        "reseaux-de-neurones",
        "robotique-dassistance-a-la-personne",
        "simulation-dynamique",
        "spiotherengineering-sciences-physicsother",
        "theses",
        "virtual-prototype" ;
    dcat:landingPage <https://theses.hal.science/tel-00864692> .

<https://rec.harvest-normandie.data4citizen.com/dataset/oai-hal-tel-00864692v1/resource/756eefb4-2243-4ded-b4d1-20bdd2bcf55c> a dcat:Distribution ;
    dct:format "HTML" ;
    dct:issued "2026-05-09T15:52:36.155274"^^xsd:dateTime ;
    dct:modified "2026-05-09T15:52:36.133330"^^xsd:dateTime ;
    dct:title "Design and Control of a Personal Assistant Robot" ;
    dcat:accessURL <https://theses.hal.science/tel-00864692> .

<https://rec.harvest-normandie.data4citizen.com/organization/cce9db95-46d9-4dc2-84b6-764215d0a002> a foaf:Agent ;
    foaf:name "test_moissonnage_selune" .

<https://theses.hal.science/tel-00864692> a foaf:Document .