Publicação
Dynamic modeling of a human-inspired robot based on a Newton-Euler approach
| Resumo: | 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. |
|---|---|
| Autores principais: | Gonçalves, Fernando |
| Outros Autores: | Ribeiro, Tiago A.; Ribeiro, A. Fernando; Lopes, Gil; Flores, Paulo |
| Assunto: | Human-inspired robot Multibody dynamics Newton-Euler formulation |
| Ano: | 2022 |
| País: | Portugal |
| Tipo de documento: | capítulo de livro |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| _version_ | 1866875660060852224 |
|---|---|
| author | Gonçalves, Fernando |
| author2 | Ribeiro, Tiago A. Ribeiro, A. Fernando Lopes, Gil Flores, Paulo |
| author2_role | author author author author |
| author_facet | Gonçalves, Fernando Ribeiro, Tiago A. Ribeiro, A. Fernando Lopes, Gil Flores, Paulo |
| author_role | author |
| contributor_name_str_mv | Universidade do Minho |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Gonçalves, Fernando\"},{\"Person.name\":\"Ribeiro, Tiago A.\"},{\"Person.name\":\"Ribeiro, A. Fernando\"},{\"Person.name\":\"Lopes, Gil\"},{\"Person.name\":\"Flores, Paulo\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Universidade do Minho |
| datacite.creators.creator.creatorName.fl_str_mv | Gonçalves, Fernando Ribeiro, Tiago A. Ribeiro, A. Fernando Lopes, Gil Flores, Paulo |
| datacite.date.Accepted.fl_str_mv | 2022-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2022-05-13T17:55:12Z |
| datacite.date.embargoed.fl_str_mv | 2022-05-13T17:55:12Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Human-inspired robot Multibody dynamics Newton-Euler formulation |
| datacite.titles.title.fl_str_mv | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach |
| dc.contributor.none.fl_str_mv | Universidade do Minho |
| dc.creator.none.fl_str_mv | Gonçalves, Fernando Ribeiro, Tiago A. Ribeiro, A. Fernando Lopes, Gil Flores, Paulo |
| dc.date.Accepted.fl_str_mv | 2022-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2022-05-13T17:55:12Z |
| dc.date.embargoed.fl_str_mv | 2022-05-13T17:55:12Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | https://hdl.handle.net/1822/77648 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Springer, Cham |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.rights.rights.copyright.fl_str_mv | openAccess |
| dc.subject.none.fl_str_mv | Human-inspired robot Multibody dynamics Newton-Euler formulation |
| dc.title.fl_str_mv | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_3248 |
| description | 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. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | bookPart |
| fulltext.url.fl_str_mv | https://prod-dspace.uminho.pt/bitstreams/b18f01dc-c0c3-49df-82af-91cb039f470a/download |
| id | rum_a5652afd6edf8df94a4e7ac4a994ff6d |
| identifier.url.fl_str_mv | https://hdl.handle.net/1822/77648 |
| instacron_str | repositorium |
| institution | Universidade do Minho |
| instname_str | Universidade do Minho |
| language | eng |
| network_acronym_str | rum |
| network_name_str | RepositóriUM - Universidade do Minho |
| oai_identifier_str | oai:repositorium.uminho.pt:1822/77648 |
| organization_str_mv | urn:organizationAcronym:repositorium |
| person_str_mv | Gonçalves, Fernando Ribeiro, Tiago A. Ribeiro, A. Fernando Lopes, Gil Flores, Paulo |
| publishDate | 2022 |
| publisher.none.fl_str_mv | Springer, Cham |
| reponame_str | RepositóriUM - Universidade do Minho |
| repository_id_str | urn:repositoryAcronym:rum |
| service_str_mv | urn:repositoryAcronym:rum |
| spelling | engSpringer, ChamporThis 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.application/pdfporDynamic modeling of a human-inspired robot based on a Newton-Euler approachGonçalves, FernandoRibeiro, Tiago A.Ribeiro, A. FernandoLopes, GilFlores, PauloHostingInstitutionOrganizationalUniversidade do Minhoe-mailmailto:repositorium@usdb.uminho.ptrepositorium@usdb.uminho.ptISBNIsPartOf978-3-031-06408-1ISSNIsPartOf0254-1971DOIIsPartOf10.1007/978-3-031-06409-8_82022-05-13T17:55:12Z20222022-01-01T00:00:00ZHandlehttps://hdl.handle.net/1822/77648http://purl.org/coar/access_right/c_abf2open accessHuman-inspired robotMultibody dynamicsNewton-Euler formulation4621476 bytesliteraturehttp://purl.org/coar/resource_type/c_3248book part2022http://creativecommons.org/licenses/by/4.0/openAccesshttp://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://prod-dspace.uminho.pt/bitstreams/b18f01dc-c0c3-49df-82af-91cb039f470a/download |
| spellingShingle | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach Gonçalves, Fernando Human-inspired robot Multibody dynamics Newton-Euler formulation |
| status | SINGLETON |
| subject.fl_str_mv | Human-inspired robot Multibody dynamics Newton-Euler formulation |
| title | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach |
| title_full | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach |
| title_fullStr | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach |
| title_full_unstemmed | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach |
| title_short | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach |
| title_sort | Dynamic modeling of a human-inspired robot based on a Newton-Euler approach |
| topic | Human-inspired robot Multibody dynamics Newton-Euler formulation |
| topic_facet | Human-inspired robot Multibody dynamics Newton-Euler formulation |
| url | https://hdl.handle.net/1822/77648 |
| visible | 1 |