Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/77648
Título: | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach |
Autor(es): | Gonçalves, Fernando Ribeiro, Tiago A. Ribeiro, A. Fernando Lopes, Gil Flores, Paulo |
Palavras-chave: | Human-inspired robot Multibody dynamics Newton-Euler formulation |
Data: | 2022 |
Editora: | Springer, Cham |
Revista: | Courses and Lectures |
Citação: | Gonçalves, F., Ribeiro, T., Ribeiro, A.F., Lopes, G., Flores, P. (2022). Dynamic Modeling of a Human-Inspired Robot Based on a Newton-Euler Approach. In: Kecskeméthy, A., Parenti-Castelli, V. (eds) ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https://doi.org/10.1007/978-3-031-06409-8_8 |
Resumo(s): | This work deals with the modeling process of a new three dimensional human-like robot for an inverse dynamic analysis. This robot intends to be utilized by caregivers to assist persons with reduced mobility (such as the elderly). The model under analysis is composed by 24 rigid bodies: 3 to represent the robot’s base and locomotion, 4 for the lower limbs and torso, 7 for each arm, and 3 for the head. The resulting multibody system has 19 degrees-of-freedom driven by 4 linear actuators and 15 revolute motors. The proposed approach was implemented using an in-house computational code, and validated against a commercial software for a general spatial motion. The outcomes achieved show that the proposed formulation is computationally effective both in terms of efficiency and accuracy. The general findings of this study are promising and useful for the mechanical design and construction of a real human-like robot prototype. |
Tipo: | Capítulo de livro |
URI: | https://hdl.handle.net/1822/77648 |
ISBN: | 978-3-031-06408-1 |
e-ISBN: | 978-3-031-06409-8 |
DOI: | 10.1007/978-3-031-06409-8_8 |
ISSN: | 0254-1971 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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RoManSy_2022_FernandoGoncalves.pdf | 4,51 MB | Adobe PDF | Ver/Abrir |
Este trabalho está licenciado sob uma Licença Creative Commons