Os resultados obtidos neste trabalho permitem sua continuidade em outras pesquisas como:
1. Averigua¸c˜ao em como suavizar as trajet´orias no espa¸co das juntas para diminuir as descontinuidades observadas.
2. Estudo dos m´etodos e das bibliotecas envolvidas para programa- ¸c˜ao em C do Bioloid Tipo A.
• Estudo sobre protocolo de comunica¸c˜ao serial entre os servos. • Aplica¸c˜ao do m´etodo desenvolvido no robˆo Bioloid.
3. Utiliza¸c˜ao do m´etodo desenvolvido em outras estruturas de robˆos com pernas (quadr´upedes e hex´apodos).
4. Investigar propriedades da matriz antissim´etrica para modela- mento dinˆamico de robˆos b´ıpedes antropom´orficos.
• Projeto de controladores.
5. Modelamento cinem´atico e cinem´atico diferencial pelo m´etodo de helic´oides.
• Inclus˜ao de cadeias virtuais para gera¸c˜ao de trajet´orias. • Utiliza¸c˜ao de t´ecnicas de rob´otica cooperativa.
• Estudos em est´atica. • Modelamento dinˆamico.
6. Projeto de geradores de trajet´orias com compensa¸c˜ao on-line de GCoM e ZMP.
7. Projeto de experimentos de laborat´orio em n´ıvel de gradua¸c˜ao e p´os-gradua¸c˜ao para ensino e pesquisa.
8. Projetos de geradores de trajet´orias para diversas tarefas espaci- ais.
9. Inclus˜ao de trajet´orias para realiza¸c˜ao de tarefas pelos bra¸cos (ex.: carregamento de materiais) durante a marcha.
10. Modelamento do ZMP para planos inclinados e/ou com utiliza¸c˜ao ativa dos bra¸cos.
6.2 PUBLICA ¸C ˜AO
Toscano, G. S., Simas, H. and Castelan, E. B. Modelagem de um Ge- rador de Trajet´oria Retil´ınea no Espa¸co Cartesiano para Robˆo Antro- pom´orfico Espacial. X Simp´osio Brasileiro de Automa¸c˜ao Inteligente, 2011.
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