Development of a new kinetostatic model for humanoid robots using screw theory

Detalhes bibliográficos
Autor(a) principal: Toscano, Gustavo Sobral
Data de Publicação: 2017
Tipo de documento: Tese
Idioma: eng
Título da fonte: Repositório Institucional da UFSC
Texto Completo: https://repositorio.ufsc.br/handle/123456789/194106
Resumo: Tese (doutorado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2017.
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spelling Development of a new kinetostatic model for humanoid robots using screw theoryEngenharia de sistemasAutomaçãoRobôsTese (doutorado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2017.Abstract : Humanoid robots (HRs) research and development have been increasing in the world due to motion versatility of such robots and also due to the high degree of spatial and environmental adaptability provided by th mimicking of the human body. Furthermore, in a future not so far away, HRs may become protable products when inserted into the human social and dynamic environment. By resembling the human kinematics, these robotic systems are composed of one mobile and rigid base link, from which four independent and serial kinematic chains mimicking the human limbs depart. Although HRs are capable of performing a great set of human-like motions, this mimicry generates complex robotic systems. Nevertheless, due to the many ways through which HRs are able to interact with the environment and with themselves, and also given a multi-limb kinematic chain detached from any inertial reference frame, these robots can be dened by dierent mechanisms. In this way, each dierent mechanism describes a single HR accordingly to dierent kinematic and static scenarios, dening mobile robots with structure-varying kinematic chains. Multiple contacts with the environment, arbitrary formation of passive couplings, a mobile and multi-limb kinematic structure may also become issues concerning the modeling of HRs. Such issues may increase the complexity of both the kinematic and the static models, depending on how the modeling of HRs are approached. Thus, this study proposes a such new kinetostatic modeling technique for HRs that these not so good features earlier addressed, e.g., the structure-varying kinematic chains, multiple contacts with the environment, arbitrary formation of passive couplings, and a mobile and multi-limb kinematic structures cease to be issues. The kinetostatic model rises from the combination between both the kinematic and the static models. This insight is based on the marionette doll, so that both the kinematic and the static models become characterized, individually, by single parallel kinematic chains whose structures do not vary. This marionette doll proposal is based on the straightforward relation between the strings of the doll's mechanism and the Assur's virtual chains, combined with screw theory and Davies' method.Castelan Neto, Eugenio de BonaSimas, HenriqueUniversidade Federal de Santa CatarinaToscano, Gustavo Sobral2019-03-25T17:19:10Z2019-03-25T17:19:10Z2017info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesis205 p.| il., gráfs., tabs.application/pdf349542https://repositorio.ufsc.br/handle/123456789/194106engreponame:Repositório Institucional da UFSCinstname:Universidade Federal de Santa Catarina (UFSC)instacron:UFSCinfo:eu-repo/semantics/openAccess2019-03-25T17:19:11Zoai:repositorio.ufsc.br:123456789/194106Repositório InstitucionalPUBhttp://150.162.242.35/oai/requestopendoar:23732019-03-25T17:19:11Repositório Institucional da UFSC - Universidade Federal de Santa Catarina (UFSC)false
dc.title.none.fl_str_mv Development of a new kinetostatic model for humanoid robots using screw theory
title Development of a new kinetostatic model for humanoid robots using screw theory
spellingShingle Development of a new kinetostatic model for humanoid robots using screw theory
Toscano, Gustavo Sobral
Engenharia de sistemas
Automação
Robôs
title_short Development of a new kinetostatic model for humanoid robots using screw theory
title_full Development of a new kinetostatic model for humanoid robots using screw theory
title_fullStr Development of a new kinetostatic model for humanoid robots using screw theory
title_full_unstemmed Development of a new kinetostatic model for humanoid robots using screw theory
title_sort Development of a new kinetostatic model for humanoid robots using screw theory
author Toscano, Gustavo Sobral
author_facet Toscano, Gustavo Sobral
author_role author
dc.contributor.none.fl_str_mv Castelan Neto, Eugenio de Bona
Simas, Henrique
Universidade Federal de Santa Catarina
dc.contributor.author.fl_str_mv Toscano, Gustavo Sobral
dc.subject.por.fl_str_mv Engenharia de sistemas
Automação
Robôs
topic Engenharia de sistemas
Automação
Robôs
description Tese (doutorado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2017.
publishDate 2017
dc.date.none.fl_str_mv 2017
2019-03-25T17:19:10Z
2019-03-25T17:19:10Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/doctoralThesis
format doctoralThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv 349542
https://repositorio.ufsc.br/handle/123456789/194106
identifier_str_mv 349542
url https://repositorio.ufsc.br/handle/123456789/194106
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 205 p.| il., gráfs., tabs.
application/pdf
dc.source.none.fl_str_mv reponame:Repositório Institucional da UFSC
instname:Universidade Federal de Santa Catarina (UFSC)
instacron:UFSC
instname_str Universidade Federal de Santa Catarina (UFSC)
instacron_str UFSC
institution UFSC
reponame_str Repositório Institucional da UFSC
collection Repositório Institucional da UFSC
repository.name.fl_str_mv Repositório Institucional da UFSC - Universidade Federal de Santa Catarina (UFSC)
repository.mail.fl_str_mv
_version_ 1808652150483451904

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