Max Suell Dutra

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 Research to date points to an understanding of human biped locomotion that has been primarily experimental in nature largely due to the complexity of the process. In view of the new, exciting possibilities of programmed electrostimulation of artificial muscles to generate motion (locomotion), a critical study at the theoretical level is greatly warranted.(More)
The objective of the work presented here was the modeling of a bipedal robot using a central pattern generator (CPG) formed by a set of mutually coupled Rayleigh oscillators. We analyzed a 2D model, with the three most important determinants of gait, that performs only motions parallel to the sagittal plane. Using oscillators with integer relation of(More)
A large number of degrees of freedom is involved in human locomotion and well-coordinated movements of these degrees of freedom is essential. The main part of this coordination occurs in the central nervous system, which generates signals according to the desired gait. Nervous networks in the spinal marrow, known as central pattern generators (CPGs), are(More)
The reproduction of the movements of a ship by automated platforms, without the use of sensors providing exact data related to the numeric variables involved, is a non-trivial matter. The creation of an artificial vision system that can follow the cadence of said ship, in six axes of freedom, is the goal of this research. Considering that a real time(More)
In control systems, the model dynamics of linear systems is the principal and most important phase of a project, but when working with dynamic of non-linear systems obtain the model becomes a very complex task can be used techniques of system identification. This article show the use of one technique for identification and modeling of dynamic linear systems(More)
This chapter presents the study and modelling of KR 6 KUKA Robot, of the Robotics Laboratory, Federal University of Rio de Janeiro, see fig 1. The chapter shows the CAD model (Computer Aided Design), the direct kinematics, the inverse kinematics and the inverse dynamical model. The direct kinematic is based in the use of homogeneous matrix. The inverse(More)
Intelligent Transportation Systems (ITS) are the future of transportation. As a result of emerging standards, vehicles will soon be able to talk to one another as well as their environment. A number of applications will be made available for vehicular networks that improve the overall safety of the transportation infrastructure. This chapter develops a(More)
Coupled oscillators can be used in control systems of locomotion as pattern generators similar to the pattern of human gait, providing approached trajectories of the legs. In this work, the central pattern generator (CPG), responsible for the production of rhythmic movements, is formed by a set of mutually coupled Rayleigh oscillators. From a model of(More)