Please use this identifier to cite or link to this item: http://repositorio.unicamp.br/jspui/handle/REPOSIP/346857
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dc.contributor.CRUESPUNIVERSIDADE ESTADUAL DE CAMPINASpt_BR
dc.contributor.authorunicampMadrid, Marconi Kolm-
dc.contributor.authorunicampDelai, André Luiz-
dc.typeArtigopt_BR
dc.titleSquat vertical jump of a 3DOF robot leg over an inclined plane: analysis with joint torque profile approximationpt_BR
dc.contributor.authorMiyadaira, A.N.-
dc.contributor.authorKolm, Madrid M.-
dc.contributor.authorGarcia, J.C.-
dc.contributor.authorGualda, D.-
dc.contributor.authorDelai, A.L.-
dc.subjectSalto verticalpt_BR
dc.subjectRobóticapt_BR
dc.subject.otherlanguageVertical jumppt_BR
dc.subject.otherlanguageRoboticspt_BR
dc.description.abstractThis work shows an analysis of the movement of a robot with an articulated leg (without a toe) of 3 degrees of freedom (3DOF) when performing a squat vertical jump over an inclined plane. We propose two different approaches to model this problem. The first method estimates the ankle position and foot orientation at the landing time, using the non-zero angular momentum and the plane tilt angle; thus, the foot orientation can be corrected during the time in the air, which achieves greater contact area when the robot land. The second method adjusts the relative position of the CoM (Center of Mass) to the horizontal axis in order to infer the joint torque profile in different tilt angles of the plane. Matlab simulation results show that, the ankle is the most affected joint whereas the plane tilts with the same jump pattern. Having a range of inclination values of ± #960;/18, the torque variation changes from 35.82% to 2.59%, which proves the efficiency of the evaluated casespt_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.issued2018-
dc.date.monthofcirculationJan.pt_BR
dc.language.isospapt_BR
dc.description.volume16pt_BR
dc.description.issuenumber1pt_BR
dc.description.firstpage80pt_BR
dc.description.lastpage87pt_BR
dc.rightsAbertopt_BR
dc.sourceSCOPUSpt_BR
dc.identifier.eissn1548-0992pt_BR
dc.identifier.doi10.1109/TLA.2018.8291458pt_BR
dc.identifier.urlhttps://ieeexplore.ieee.org/document/8291458pt_BR
dc.description.sponsorshipCOORDENAÇÃO DE APERFEIÇOAMENTO DE PESSOAL DE NÍVEL SUPERIOR - CAPESpt_BR
dc.description.sponsordocumentnumber99999.006184/2015-04pt_BR
dc.date.available2020-08-06T15:39:48Z-
dc.date.accessioned2020-08-06T15:39:48Z-
dc.description.provenanceSubmitted by Mariana Aparecida Azevedo (mary1@unicamp.br) on 2020-08-06T15:39:48Z No. of bitstreams: 0. Added 1 bitstream(s) on 2021-01-08T19:02:52Z : No. of bitstreams: 1 2-s2.0-85042288964.pdf: 2122358 bytes, checksum: 028d5a7504219619313692fc610bc18b (MD5)en
dc.description.provenanceMade available in DSpace on 2020-08-06T15:39:48Z (GMT). No. of bitstreams: 0 Previous issue date: 2018en
dc.identifier.urihttp://repositorio.unicamp.br/jspui/handle/REPOSIP/346857-
dc.contributor.departmentDepartamento de Sistemas e Energiapt_BR
dc.contributor.departmentsem informaçãopt_BR
dc.contributor.unidadeFaculdade de Engenharia Elétrica e de Computaçãopt_BR
dc.contributor.unidadeFaculdade de Engenharia Elétrica e de Computaçãopt_BR
dc.subject.keywordArticulated legpt_BR
dc.subject.keywordInclined planept_BR
dc.subject.keywordJump stabilitypt_BR
dc.identifier.source2-s2.0-85042288964pt_BR
dc.creator.orcidsem informaçãopt_BR
dc.creator.orcidsem informaçãopt_BR
dc.type.formArtigopt_BR
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