Planning and Control Strategies for Motion and Interaction of the Humanoid Robot COMAN+

Despite the majority of robotic platforms are still confined in controlled environments such as factories, thanks to the ever-increasing level of autonomy and the progress on human-robot interaction, robots are starting to be employed for different operations, expanding their focus from uniquely industrial to more diversified scenarios. Humanoid research seeks to obtain the versatility and dexterity of robots capable of mimicking human motion in any environment. With the aim of operating side-to-side with humans, they should be able to carry out complex tasks without posing a threat during operations. In this regard, locomotion, physical interaction with the environment and safety are three essential skills to develop for a biped. Concerning the higher behavioural level of a humanoid, this thesis addresses both ad-hoc movements generated for specific physical interaction tasks and cyclic movements for locomotion. While belonging to the same category and sharing some of the theoretical obstacles, these actions require different approaches: a general high-level task is composed of specific movements that depend on the environment and the nature of the task itself, while regular locomotion involves the generation of periodic trajectories of the limbs. Separate planning and control architectures targeting these aspects of biped motion are designed and developed both from a theoretical and a practical standpoint, demonstrating their efficacy on the new humanoid robot COMAN+, built at Istituto Italiano di Tecnologia. The problem of interaction has been tackled by mimicking the intrinsic elasticity of human muscles, integrating active compliant controllers. However, while state-of-the-art robots may be endowed with compliant architectures, not many can withstand potential system failures that could compromise the safety of a human interacting with the robot. This thesis proposes an implementation of such low-level controller that guarantees a fail-safe behaviour, removing the threat that a humanoid robot could pose if a system failure occurred

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

Legal Anarchism: Does Existence Need to Be Regulated by the State

This thesis asks does existence need to be regulated by the State? The answer relies on legal anarchism, an interdisciplinary, particularly criminal law and philosophy, and unconventional research project based on multiple methodologies with a specific language. It critically analyzes and consequently rejects State law because of its unjustified and unnecessary nature founded on unlimited violence and white-collar crime (Chapters 1-4), on the one hand, and suggests some alternatives to the Governmental legal system founded on agreement and peace (Chapter 5), on the other hand. It furthermore takes into account the elements of time and space, which means the ecological, local, national, regional, and international aspects of the legal system, in its analysis, critiques, and models

Bowdoin Orient v.125, no.12-23 (1997-1997)

https://digitalcommons.bowdoin.edu/bowdoinorient-1990s/1009/thumbnail.jp

Systems&design:beyond processes and thinking

El entorno social,el territorio, los productos y las empresas, son ámbitos comunes,en los que se pretende realizar una optimización en la gestión del conocimiento,y desde la que se nos debe permitir observar el mayor número de factores con incidencia en la decisión proyectual necesaria para el diseño de nuevos productos y o servicios.Los retos que plantea la complejidad inherente a estos nuevos tiempos, exige la observación y estudio desde diferentes abordajes e investigaciones, que deberán ser capaces de interpretar las múltiples relaciones complejas, considerando su comportamiento y afectación en el proceso de diseño desde el ámbito complejo de lo multidisciplinar.Hernandis Ortuño, B. (2016). Systems&design:beyond processes and thinking. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/73710EDITORIA