Please use this identifier to cite or link to this item: http://repositorio.unicamp.br/jspui/handle/REPOSIP/319308
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dc.contributor.CRUESPUNIVERSIDADE ESTADUAL DE CAMPINASpt_BR
dc.identifier.isbnpt_BR
dc.contributor.authorunicampMiyadaira, Alberto Noborupt_BR
dc.contributor.authorunicampMadrid, Marconi Kolmpt_BR
dc.typeArtigopt_BR
dc.titleRobot’s weight distribution influence on angular momentum produced by a standing vertical jumppt_BR
dc.contributor.authorMiyadaira, A. N.pt_BR
dc.contributor.authorMadrid, M. K.pt_BR
unicamp.authorMarangoni, J.V., Universidade Estadual de Campinas, Limeira, Saõ Paulo, Brazilpt_BR
unicamp.authorGoncalves, M.S., Universidade Estadual de Campinas, Limeira, Saõ Paulo, Brazilpt_BR
dc.subjectMomentos angularespt_BR
dc.subjectSalto verticalpt_BR
dc.subjectRobóticapt_BR
dc.subject.otherlanguageAngular momentumpt_BR
dc.subject.otherlanguageVertical jumppt_BR
dc.subject.otherlanguageRoboticspt_BR
dc.description.abstractVertical jump movement generators usually apply the ZMP (Zero Moment Point) and/or angular momentum equations as restrictions when planning the movements of the robot joints, which can cause undesired oscillations in the torso, compromise accuracy of the jump and/or complicate the search for online solutions. This paper presents a strategy to solve the problem related to angular momentum generated by the movement of the vertical jump, performed by a robot with 3 DoF (Degree of Freedom) and 4-links. Mentioned links correspond to the following parts of the human body: foot, leg, thigh and torso, and its weighted mass distribution and CoM (Center of Mass) position define an angular momentum profile within a specified range of speed values for the jump. In order for that to happen, simulations were performed using MATLAB, considering homogeneous and weighted distributions of total mass between the links of a robot and applying a third-degree polynomial function for the vertical acceleration curve of the CoM. The results suggest that based on the strategy proposed in this paper, it is possible to perform a vertical jump with dynamically stable movements and with angular moment near zero, and, at the same time, minimizing the problems presented in some prior methods. © 2016 IEEE.en
dc.description.abstractVertical jump movement generators usually apply the ZMP (Zero Moment Point) and/or angular momentum equations as restrictions when planning the movements of the robot joints, which can cause undesired oscillations in the torso, compromise accuracy of thept_BR
dc.relation.ispartofIEEE America Latina. Revista = IEEE Latin America transactionspt_BR
dc.publisher.cityPiscataway, NJpt_BR
dc.publisher.countryEstados Unidospt_BR
dc.publisherInstitute of Electrical and Electronics Engineerspt_BR
dc.date.issued2016pt_BR
dc.date.monthofcirculationApr.pt_BR
dc.identifier.citationIeee Latin America Transactions. Ieee Computer Society, v. 14, p. 1669 - 1676, 2016.pt_BR
dc.language.isoengpt_BR
dc.description.volume14pt_BR
dc.description.issuenumber4pt_BR
dc.description.issuepartpt_BR
dc.description.firstpage1669pt_BR
dc.description.lastpage1676pt_BR
dc.rightsfechadopt_BR
dc.rightsAbertopt_br
dc.sourceSCOPUSpt_BR
dc.identifier.eissn1548-0992pt_BR
dc.identifier.doi10.1109/TLA.2016.7483499pt_BR
dc.identifier.urlhttps://ieeexplore.ieee.org/document/7483499pt_BR
dc.description.sponsorshipsem informaçãopt_BR
dc.description.sponsordocumentnumbersem informaçãopt_BR
dc.date.available2016-12-06T17:43:26Z-
dc.date.accessioned2016-12-06T17:43:26Z-
dc.description.provenanceMade available in DSpace on 2016-12-06T17:43:26Z (GMT). No. of bitstreams: 1 2-s2.0-84976338411.pdf: 631924 bytes, checksum: 1222b51f67f34a624129146acdbef3cc (MD5) Previous issue date: 2016 Bitstreams deleted on 2021-01-19T17:03:47Z: 2-s2.0-84976338411.pdf,. Added 1 bitstream(s) on 2021-01-19T17:34:26Z : No. of bitstreams: 1 2-s2.0-84976338411.pdf: 701490 bytes, checksum: dfe6bde8adc17d4bb1f02acd2ef16c06 (MD5)en
dc.identifier.urihttp://repositorio.unicamp.br/jspui/handle/REPOSIP/319308-
dc.identifier.idScopus2-s2.0-84976338411pt_BR
dc.description.conferencenomept_BR
dc.contributor.departmentsem informaçãopt_BR
dc.contributor.departmentDepartamento de Sistemas e Energiapt_BR
dc.contributor.unidadeFaculdade de Engenharia Elétrica e de Computaçãopt_BR
dc.contributor.unidadeFaculdade de Engenharia Elétrica e da Computaçãopt_BR
dc.identifier.source2-s2.0-84976338411pt_BR
dc.creator.orcid0000-0002-1041-2987pt_BR
dc.creator.orcidsem informaçãopt_BR
dc.type.formArtigopt_BR
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