Multibody model of the human-inspired robot CHARMIE

Bibliographic Details
Main Author: Gonçalves, Fernando
Publication Date: 2024
Other Authors: Ribeiro, Tiago, Ribeiro, A. Fernando, Lopes, Gil, Flores, Paulo
Format: Article
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: https://hdl.handle.net/1822/87544
Summary: Published Online: 06 October 2023
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spelling Multibody model of the human-inspired robot CHARMIEMobile manipulator robotMultibody dynamicsNewton-Euler formulationEngenharia e Tecnologia::Engenharia MecânicaSaúde de qualidadePublished Online: 06 October 2023The rapid ageing of the worldwide population raises pressing concerns related to ensuring proper healthcare and quality of life for older adults. A human-like mobile domestic robot, named CHARMIE, is being produced to aid in these situations by performing household chores, thus increasing the autonomy of persons with mobility limitations. The present work provides a valuable contribution to the development of CHARMIE by building a simulation environment that computes the system’s main dynamics. The obtained environment is used to evaluate the quality of the robot’s control system, to perform its structural optimization and to allow a proper selection of actuators. The system is tackled as a kinematic tree that starts on the robot’s base and then splits into three branches at the torso: the left arm, the right arm, and the head. The multibody model solves the forward kinematics and inverse dynamics of the main mechanisms by employing two recursive algorithms centred around the Newton–Euler formulation. A novel, modular, and efficient seven-step methodology was created to implement these two algorithms and program a simulator from start to finish. These seven steps include studying the system’s configuration, converting its properties into software inputs, and computing the phenomena that cannot be automatically addressed by the two recursive formulations. The presented methodology was fully validated by comparing its results to those obtained from a commercial software; the two models produced identical results.This work was supported by the Laboratory of Automation and Robotics (LAR) of University of Minho, and the ALGORITMI and CMEMS research centers. The first and second authors received funding through a doctoral scholarship from the Portuguese Foundation for Science and Technology [grant numbers SFRH/BD/145993/2019 and SFRH/BD/06944/2020], with funds from the Portuguese Ministry of Science, Technology and Higher Education and the European Social Fund through the Programa Operacional do Capital Humano (POCH). This work was supported by FCT—Fundação para a Ciência e a Tecnologia within the R&D Units Project Scope: UIDB/00319/2020.SpringerUniversidade do MinhoGonçalves, FernandoRibeiro, TiagoRibeiro, A. FernandoLopes, GilFlores, Paulo20242024-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/1822/87544engGonçalves, F., Ribeiro, T., Ribeiro, A.F. et al. Multibody model of the human-inspired robot CHARMIE. Multibody Syst Dyn 60, 93–120 (2024). https://doi.org/10.1007/s11044-023-09933-51384-56401573-272X10.1007/s11044-023-09933-5https://link.springer.com/article/10.1007/s11044-023-09933-5#citeasinfo:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2024-11-02T01:21:08Zoai:repositorium.sdum.uminho.pt:1822/87544Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T15:52:38.897673Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Multibody model of the human-inspired robot CHARMIE
title Multibody model of the human-inspired robot CHARMIE
spellingShingle Multibody model of the human-inspired robot CHARMIE
Gonçalves, Fernando
Mobile manipulator robot
Multibody dynamics
Newton-Euler formulation
Engenharia e Tecnologia::Engenharia Mecânica
Saúde de qualidade
title_short Multibody model of the human-inspired robot CHARMIE
title_full Multibody model of the human-inspired robot CHARMIE
title_fullStr Multibody model of the human-inspired robot CHARMIE
title_full_unstemmed Multibody model of the human-inspired robot CHARMIE
title_sort Multibody model of the human-inspired robot CHARMIE
author Gonçalves, Fernando
author_facet Gonçalves, Fernando
Ribeiro, Tiago
Ribeiro, A. Fernando
Lopes, Gil
Flores, Paulo
author_role author
author2 Ribeiro, Tiago
Ribeiro, A. Fernando
Lopes, Gil
Flores, Paulo
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Gonçalves, Fernando
Ribeiro, Tiago
Ribeiro, A. Fernando
Lopes, Gil
Flores, Paulo
dc.subject.por.fl_str_mv Mobile manipulator robot
Multibody dynamics
Newton-Euler formulation
Engenharia e Tecnologia::Engenharia Mecânica
Saúde de qualidade
topic Mobile manipulator robot
Multibody dynamics
Newton-Euler formulation
Engenharia e Tecnologia::Engenharia Mecânica
Saúde de qualidade
description Published Online: 06 October 2023
publishDate 2024
dc.date.none.fl_str_mv 2024
2024-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/1822/87544
url https://hdl.handle.net/1822/87544
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Gonçalves, F., Ribeiro, T., Ribeiro, A.F. et al. Multibody model of the human-inspired robot CHARMIE. Multibody Syst Dyn 60, 93–120 (2024). https://doi.org/10.1007/s11044-023-09933-5
1384-5640
1573-272X
10.1007/s11044-023-09933-5
https://link.springer.com/article/10.1007/s11044-023-09933-5#citeas
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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