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Bruno Vilhena Adornohttp://lattes.cnpq.br/3363634987221133Abderrahmane KheddarMurilo Marques MarinhoLuciano Cunha de Araújo PimentaVinícius Mariano Gonçalveshttp://lattes.cnpq.br/2225681383766946Juan José Quiroz Omaña2021-11-22T19:10:15Z2021-11-22T19:10:15Z2021-09-30http://hdl.handle.net/1843/38700This work uses vector field inequalities (VFIs) to prevent robot self-collisions and collisions with the workspace. We extend the VFIs to second order kinematics (SOVFIs) and, differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. Furthermore, we present a formal proof of collision avoidance using SOVFIs. We propose a new distance function and its corresponding Jacobian in order to generate a VFIs to limit the angle between two Plücker lines. This new VFI is used to prevent both undesired end-effector orientations and violation of joints limits. In addition, we propose a new Jacobian related with the support polygon of a humanoid robot. This is used to maximize the support polygon area of the robot, and potentially increasing the robot's reachability and the robot safety in terms of its balance. We use the proposed Jacobians and the VFIs framework to enable whole-body control with multi-contacts using a full humanoid robot in simulation. The Euler-Lagrange model, which is used in conjunction with the SOVFIs for torque-actuated robots, is derived by means of the Gauss's Principle of Least Constraint using dual quaternion algebra. The use of dual quaternion algebra allows a more compact and unified representation for the twists and wrenches. The proposed method is evaluated in a realistic simulation on a 27-DOF full humanoid robot and on three real platforms: a 9-DOF humanoid robot, a 8-DOF bimanual manipulator, and a 16-DOF nonholonomic bimanual manipulator. Results show that all constraints are respected while the robot performs a manipulation task.Este trabalho usa desigualdades de campos vetoriais (DCV) para prevenir colisões com o ambiente e com o próprio robô. As DCVs são estendidas para cinemática de segunda ordem (DCVSO). Diferentemente de trabalhos anteriores, o método pode ser aplicado a robôs atuados tanto em velocidade quanto em torque. Além disso, é apresentada uma prova formal de prevenção de colisões usando DCVs de segunda ordem. É proposta uma nova função de distância e a sua Jacobiana correspondente para gerar uma DCV que evita atingir um ângulo entre duas linhas de Plücker. Essa nova DCV é usada para evitar atingir os limites das juntas ou orientações indesejadas no efetuador. Além disso, é proposta uma nova Jacobiana relacionada com o polígono de suporte de um robô humanoide. Isso é usado para maximizar a área do polígono de suporte do robô e, potencialmente, aumentar o alcance e a segurança do robô em termos do equilíbrio. As Jacobianas propostas e as DCVs são usadas para realizar controle de corpo completo com múltiplos contatos usando um robô humanoide. O modelo de Euler-Lagrange, o qual é usado com as DCVSOs em robôs atuados em torque, é derivado por meio do princípio da mínima restrição de Gauss usando álgebra de quatérnios duais. O uso de álgebra de quatérnios duais permite uma representação mais compacta e unificada para os heligiros e as heliforças. O método proposto é avaliado em uma simulação realista e em um humanoide com 27 graus de liberdade e em três robôs reais: um humanoide com 9 graus de liberdade, um manipulador bimanual com 8 graus de liberdade e um manipulador bimanual móvel não holonômico com 16 graus de liberdade. Os resultados mostram que todas as restrições são respeitadas enquanto o robô realiza tarefas de manipulação.CNPq - Conselho Nacional de Desenvolvimento Científico e TecnológicoFAPEMIG - Fundação de Amparo à Pesquisa do Estado de Minas GeraisCAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível SuperiorINCT – Instituto nacional de ciência e tecnologia (Antigo Instituto do Milênio)engUniversidade Federal de Minas GeraisPrograma de Pós-Graduação em Engenharia ElétricaUFMGBrasilENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICAhttp://creativecommons.org/licenses/by-nc-nd/3.0/pt/info:eu-repo/semantics/openAccessEngenharia elétricaDesigualdades diferenciaisProcessos gaussianosRobôs – Sistemas de controleVector fields inequalitiesHumanoid robotsGauss's principle of least constraintDual quaternionsQuadratic programmingWhole-body control of humanoid robots at second order kinematics under unilateral constraintsinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisreponame:Repositório Institucional da UFMGinstname:Universidade Federal de Minas Gerais (UFMG)instacron:UFMGCC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8811https://repositorio.ufmg.br/bitstream/1843/38700/2/license_rdfcfd6801dba008cb6adbd9838b81582abMD52ORIGINALNew_Phd_Dissertation_JJQuirozOmana_28_Oct_2021_FinalBibliotecaPDFA.pdfNew_Phd_Dissertation_JJQuirozOmana_28_Oct_2021_FinalBibliotecaPDFA.pdfapplication/pdf14646511https://repositorio.ufmg.br/bitstream/1843/38700/6/New_Phd_Dissertation_JJQuirozOmana_28_Oct_2021_FinalBibliotecaPDFA.pdff71ee7cfa10443808d3586a5d592a083MD56LICENSElicense.txtlicense.txttext/plain; charset=utf-82118https://repositorio.ufmg.br/bitstream/1843/38700/7/license.txtcda590c95a0b51b4d15f60c9642ca272MD571843/387002021-11-22 16:10:16.081oai:repositorio.ufmg.br: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ório InstitucionalPUBhttps://repositorio.ufmg.br/oaiopendoar:2021-11-22T19:10:16Repositório Institucional da UFMG - Universidade Federal de Minas Gerais (UFMG)false
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