Neste trabalho apresentamos as potencialidades das tecnologias da geometria dinâmica do software GeoGebra e da impressão 3D na criação de objetos de aprendizagem (OAs) para o ensino de funções de várias variáveis visando contribuir com a integração da tecnologia no Ensino de Cálculo com práticas inovadoras. Os OAs desenvolvidos virtualmente e fisicamente estão sendo utilizados na disciplina de Cálculo Diferencial e Integral II (CDI 2), nos cursos de Licenciatura em Matemática e Engenharias do Centro Tecnológico da Universidade do Estado de Santa Catarina. Os resultados dessa prática têm contribuído no processo de ensino, auxiliando na representação gráfica de superfícies, na interseção de superfícies e na visualização de curvas de nível.
This paper presents the use of passive dynamics to generate the sagittal plane references for a biped walker. In order to achieve an adjustable gait width, a neural network reference generator, trained with passive walking data on different slopes, was applied. The control algorithm was implemented with an Nonlinear Model Predictive Control (NMPC) strategy, in order to perform multiple-input multiple-output reference tracking while maintaining balance. The main contributions of the present work are using a kneed passive walker model for reference generation, which creates gait profiles that are more natural than the compass gait model, presenting a low computational cost, since only the forward kinematic model is used, and enabling adjustable gait width, due to the use of a neural network trained with data from the passive walker. Simulation results using V-REP (Virtual Robot Experimentation Platform) are presented, using a sagittal kneed walker with a torso and arms, demonstrating the effectiveness of the proposed method.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.