Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
Static analysis and failure modes of Humanoid Robots in contact with the environment
Submission Author:
Lucas Weihmann , SC
Co-Authors:
Lucas Weihmann, Leandro dos Santos Coelho, Juliano Pierezan
Presenter: Lucas Weihmann
doi://10.26678/ABCM.COBEM2023.COB2023-0562
Abstract
Humanoid robots (HR) can be developed to interact with people and work in an unstructured environment, where external contact forces may arise intentionally or accidentally, changing the static and dynamic balance. When in contact with the environment, several HR tasks are executed at low velocities and the kinetostatic approach is useful. The fundamentals and concepts of static analysis of mechanisms in general and robots in particular is a topic well established in the literature. But a deeper analysis of humanoid robots statics shows that there are still open points to be addressed in tasks where the robot has to push an object. Such kind of tasks may take place in situations where HRs interacts with people, doing activities like pushing a wheelchair or helping an elder people to move an object. Knowing all the external forces influences and how it reflects in the internal structure of the HR can be the difference between success or failure to accomplish such kind of tasks that can potentially threaten humans life’s. In this wok, the static analysis of HR that considers gravity, slipping, tumbling, links structural resistance and actuators saturation in a whole integrated solving approach is presented and the different failures modes that can occur are discussed. Since the humanoid robot in contact with the environment can be understood as a closed kinematic chain with redundant actuation, this paper presents an approach that does not use a pseudo-inverse matrix to solve the problem. Important simulation results about how friction and external contact forces influences the force capabilities of humanoid robots are presented. Results obtained from this work can be useful for the design of new HR or for task planning in actual robot where the contact with the environment occurs.
Keywords
Humanoid Robot, static analysis, failure modes, environment contact
