Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
THREE-DIMENSIONAL IDENTIFICATION OF A HUMANOID ROBOT
Submission Author:
Caroline Silva , RJ
Co-Authors:
Caroline Silva, Daniela Vacarini de Faria, Davi Herculano Vasconcelos Barroso, Marcos Maximo, Luiz Carlos Góes
Presenter: Daniela Vacarini de Faria
doi://10.26678/ABCM.COBEM2019.COB2019-0711
Abstract
This work proposes the identification of parameters of a humanoid research robot, in particular Robotis DARwIn OP2. The methodology followed is based on a consolidated identification technique combined with the Statically Equiv- alent Serial Chains (SESC) method, the input data chosen for the system are the angles of the robotic joints. Initially, this methodology was tested on a simulator, produced by the Laboratório de Sistemas Computacionais Autonômos (LAB-SCA) of ITA. Later this methodology was be applied in a real robot, Robotis DARwIn OP2, also available at LAB-SCA
Keywords
humanoid robotics, System Identification, Kinematic Chain
