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A new kinetostatic model for humanoid robots using screw theory

Published online by Cambridge University Press:  22 January 2018

Gustavo S. Toscano ,
Henrique Simas ,
Eugênio B. Castelan  and
Daniel Martins
Gustavo S. Toscano
Affiliation:
Department of Automation and Systems Engineering (DAS), Federal University of Santa Catarina (UFSC), Florianópolis, Brazil. E-mails: gustavotoscano@gmail.com, eugenio.castelan@ufsc.br
Henrique Simas
Affiliation:
Department of Mechanical Engineering (EMC), Federal University of Santa Catarina (UFSC), Florianópolis, Brazil. E-mails: henrique.simas@ufsc.br, daniel.martins@ufsc.br
Eugênio B. Castelan
Affiliation:
Department of Automation and Systems Engineering (DAS), Federal University of Santa Catarina (UFSC), Florianópolis, Brazil. E-mails: gustavotoscano@gmail.com, eugenio.castelan@ufsc.br
Daniel Martins
Affiliation:
Department of Mechanical Engineering (EMC), Federal University of Santa Catarina (UFSC), Florianópolis, Brazil. E-mails: henrique.simas@ufsc.br, daniel.martins@ufsc.br
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Summary

This study presents a new kinetostatic model for humanoid robots (HRs). Screw theory, together with Assur virtual chains and Davies' method, provides the required tools for the proposal of both the kinematic and static parts of the kinetostatic model. Our kinetostatic model is able to estimate the forces and couples generated at the axes of each joint of the robot, as well as one unknown contact condition between the robot and the environment around it. The proposed model is also very versatile and free of fixed coordinates and, therefore, it allows for an estimate of a great amount of information on the HR. Some results, obtained from computer simulation, are presented to validate the versatility of the proposed technique.

Keywords

Humanoid robotsKinetostatic modelScrew theoryDavies' methodVirtual chains
Type
Articles
Information
Robotica , Volume 36 , Issue 4 , April 2018 , pp. 570 - 587
Copyright
Copyright © Cambridge University Press 2018 

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