250 documents found, page 1 of 25
Development of a multibody simulator to study the CHARMIE robot
Gonçalves, Fernando; Ribeiro, Tiago; Ribeiro, A. Fernando; Lopes, Gil; Flores, Paulo[Excerpt] 1. INTRODUCTION The Laboratory of Automation and Robotics of the University of Minho has developed CHARMIE, a human-inspired robot designed to assist humans in domestic tasks [1] (See Figure 1). One of the challenges in developing a complex mobile manipulator robot is testing and optimizing its control. Damages to the physical prototype, or possible hazardous situations, can be avoided by testing cont...
Multibody model of the human-inspired robot CHARMIE
Gonçalves, Fernando; Ribeiro, Tiago; Ribeiro, A. Fernando; Lopes, Gil; Flores, PauloPublished Online: 06 October 2023; The rapid ageing of the worldwide population raises pressing concerns related to ensuring proper healthcare and quality of life for older adults. A human-like mobile domestic robot, named CHARMIE, is being produced to aid in these situations by performing household chores, thus increasing the autonomy of persons with mobility limitations. The present work provides a valuable c...
Multibody dynamics in robotics with focus on contact events
Silva, Mariana Isabel Santos Rodrigues; Coelho, Joana Sofia Falcato Pereira Lima; Gonçalves, Fernando; Novais, Francisco; Flores, PauloMultibody dynamics methodologies have been fundamental tools utilized to model and simulate robotic systems that experience contact conditions with the surrounding environment, such as in the case of feet and ground interactions. In addressing such problems, it is of paramount importance to accurately and efficiently handle the large body displacement associated with locomotion of robots, as well as the dynamic...
LAR@Home 2025 Team Description Paper
Ribeiro, Tiago Alcântara; Silva, Bruno; Martins, Renata; Silva, Rui; Martins, Diogo; Martins, José; Garcia, Inês Sofia Moreira; Gonçalves, FernandoThis paper describes the development and progresses of the team LAR@Home from the University of Minho, Portugal, for the RoboCup@Home competition that will take place in Salvador, Brazil, in 2025. After the robot’s participation in the 2023 and 2024 editions, the main efforts centred on improving and developing the localisation and navigation system, developing a GUI system that can be used in competitions visu...
Dynamic modeling and simulation of the omnidirectional locomotion of a mobile m...
Gonçalves, Fernando; Ribeiro, Tiago; Ribeiro, A. Fernando; Lopes, Gil; Flores, PauloOmnidirectional wheeled locomotion is often utilized by robots intended to work in indoor environments due to its high manoeuvrability in confined spaces. CHARMIE, a human-inspired mobile manipulator that aims to assist patients with mobility limitations, employs four Swedish wheels supported by an independent suspension to navigate through domestic environments. Multibody dynamics is one of the main tools whic...
Comparative study on burnout among higher education professors in Portugal and ...
Pinto, Ana; Carvalho, Carla; Rodriguez, Susana; Simões, Ana; Carvalhais, Carlos; Gonçalves, Fernando; Santos, JoanaThe global pandemic context experienced in recent years has exacerbated the reality that the work environment does not always offer the necessary conditions for task completion. For example, in Higher Education Institutions (HEIs), all over the world, were closing, to safeguard the health of professors, students, and education professionals had to change teaching methods, namely, remote teaching, involving new ...
LAR@Home 2024 Team Description Paper
Ribeiro, Tiago Alcântara; Silva, Bruno; Martins, Renata; Silva, Rui; Martins, Diogo; Oliveira, Nuno; Garcia, Inês Sofia Moreira; Gonçalves, FernandoThis paper describes the development and progresses of the team LAR@Home from the University of Minho, Portugal, for the RoboCup@Home competition that will take place in Eindhoven, Netherlands, in 2024. After the robot’s first participation in the 2023 edition, the main efforts focus on improving the mechanical and electronic structure in order to highlight its anthropomorphic approach and addition of a new rob...
Segmentação das rotas turísticas em Portugal Continental – Uma análise de clusters
Mota, Carlos Vilela da; Gonçalves, FernandoThe tourism routes, being based on immaterial, heritage, cultural, gastronomic, and historical elements, can create local employment and economic growth. In particular, they can be an important agent for the development of non-metropolitan regions. The object of the present research is the universe of tourism routes in Mainland Portugal and aims to: (i) List comprehensively the routes and proceed to their ...
Dynamic modeling of a human-inspired robot based on a Newton-Euler approach
Gonçalves, Fernando; Ribeiro, Tiago A.; Ribeiro, A. Fernando; Lopes, Gil; Flores, PauloThis 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 result...
Multibody model of the collaborative human-inspired robot charmie
Gonçalves, Fernando; Ribeiro, Tiago; Ribeiro, A. Fernando; Lopes, Gil; Flores, PauloWith the worldwide ageing of population, domestic robots can provide important aid by assisting elderly persons with mobility limitations, increasing their autonomy, while reducing caretaker fatigue. Currently, a human-like mobile system, called CHARMIE, is being assembled, which can be applied for those situations. For this purpose, a full multibody model has been developed, which allows for the assessment of ...