![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/2013-06-01 10.59.02_t.jpg)
2013-06-01 10.59.02
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/2013-06-01 11.01.40_t.jpg)
2013-06-01 11.01.40
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/2013-06-01 11.03.50_t.jpg)
2013-06-01 11.03.50
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/NAO_stairs_t.jpg)
NAO_stairs
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_image2_t.jpg)
RAZOR_image2
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_imagem1_t.jpg)
RAZOR_imagem1
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_imagem1_t.jpg)
RAZOR_imagem1
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_network_t.jpg)
RAZOR_network
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_still_0_0_0_Y_t.jpg)
RAZOR_still_0_0_0_Y
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_still_0_0_0_accel_X_t.jpg)
RAZOR_still_0_0_0_accel_X
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_still_0_0_0_accel_Y_t.jpg)
RAZOR_still_0_0_0_accel_Y
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_still_0_0_0_accel_Z_t.jpg)
RAZOR_still_0_0_0_accel_Z
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_still_0_0_0_gyro_X_t.jpg)
RAZOR_still_0_0_0_gyro_X
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_still_0_0_0_gyro_Y_t.jpg)
RAZOR_still_0_0_0_gyro_Y
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/RAZOR_still_0_0_0_gyro_Z_t.jpg)
RAZOR_still_0_0_0_gyro_Z
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/TWNHR_t.jpg)
TWNHR
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/apoio_fanuc_desmontado_t.jpg)
apoio_fanuc_desmontado
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/arduino_uno_t.jpg)
arduino_uno
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/arduino_uno_t.jpg)
arduino_uno
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/astronauta_t.jpg)
astronauta
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/atuador_ativo_humanoide_t.jpg)
atuador_ativo_humanoide
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/atuador_passivo_humanoide_t.jpg)
atuador_passivo_humanoide
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/capacit_accel_t.jpg)
capacit_accel
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/complementary_filter_example_t.jpg)
complementary_filter_example
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/diagrama_cinematica_perna_1_t.jpg)
diagrama_cinematica_perna_1
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/diagrama_cinematica_perna_simplificado_t.jpg)
diagrama_cinematica_perna_simplificado
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/ekf_algorithm_t.jpg)
ekf_algorithm
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/fanuc_joints_t.jpg)
fanuc_joints
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/fanuc_rot_t.jpg)
fanuc_rot
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/fanuc_trans_t.jpg)
fanuc_trans
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/fanucs_image_t.jpg)
fanucs_image
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/ftdi_t.jpg)
ftdi
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/humandoid_network_t.jpg)
humandoid_network
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/humanoid_half_image_t.jpg)
humanoid_half_image
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/humanoid_imu_suit_t.jpg)
humanoid_imu_suit
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/humanoid_inferior_small_diagram_t.jpg)
humanoid_inferior_small_diagram
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/humanoid_network_t.jpg)
humanoid_network
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/humanoid_v1_t.jpg)
humanoid_v1
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/humanoid_v2_t.jpg)
humanoid_v2
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/inclinometro_example_t.jpg)
inclinometro_example
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/inclinometro_example_2_t.jpg)
inclinometro_example_2
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/jupp_t.jpg)
jupp
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mems_accel_capacitivo_t.jpg)
mems_accel_capacitivo
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mems_accel_capacitivo_t.jpg)
mems_accel_capacitivo
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mems_gyro_vib_t.jpg)
mems_gyro_vib
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mems_gyro_vib_t.jpg)
mems_gyro_vib
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/minIMU-v2_POLOLU_image2_t.jpg)
minIMU-v2_POLOLU_image2
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/minIMU_POLOLU_image1_t.jpg)
minIMU_POLOLU_image1
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/minIMU_POLOLU_image1_t.jpg)
minIMU_POLOLU_image1
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/montagem_testes_pololu_t.jpg)
montagem_testes_pololu
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/montagem_testes_razor_t.jpg)
montagem_testes_razor
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/move_xx_1_t.jpg)
move_xx_1
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/move_xx_2_t.jpg)
move_xx_2
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/move_yy_1_t.jpg)
move_yy_1
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/move_yy_2_t.jpg)
move_yy_2
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/move_zz_1_t.jpg)
move_zz_1
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/move_zz_2_t.jpg)
move_zz_2
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mux4051_t.jpg)
mux4051
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mux__t.jpg)
mux_
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mux_board_t.jpg)
mux_board
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mux_board_bot_t.jpg)
mux_board_bot
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mux_board_top_t.jpg)
mux_board_top
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mux_hcf4051be_t.jpg)
mux_hcf4051be
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/mux_schematic_t.jpg)
mux_schematic
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/orientacao_imu_t.jpg)
orientacao_imu
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/pc_t.jpg)
pc
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/pc_t.jpg)
pc
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/pc_t.jpg)
pc
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/pcs_t.jpg)
pcs
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/piezo_accel_t.jpg)
piezo_accel
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/piezo_resist_accel_t.jpg)
piezo_resist_accel
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/placa_t.jpg)
placa
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/placa_PCB_com_solda_t.jpg)
placa_PCB_com_solda
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/placa_PCB_sem_solda_t.jpg)
placa_PCB_sem_solda
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/pololu_sensor_rede_t.jpg)
pololu_sensor_rede
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/pressure_cell_t.jpg)
pressure_cell
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/pressure_cells_foot_t.jpg)
pressure_cells_foot
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/rede_pequena_esquema_t.jpg)
rede_pequena_esquema
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/rede_pequena_esquema_t.jpg)
rede_pequena_esquema
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/rede_pequena_esquema_RAZOR_t.jpg)
rede_pequena_esquema_RAZOR
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/rede_programa_t.jpg)
rede_programa
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/rotation_arrow_t.jpg)
rotation_arrow
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/rotation_arrow_2_t.jpg)
rotation_arrow_2
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/rotor_gyro_t.jpg)
rotor_gyro
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/rpy_t.jpg)
rpy
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/search_coil_magnet_t.jpg)
search_coil_magnet
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/sensores_montados_t.jpg)
sensores_montados
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/serach_coil_magnet_t.jpg)
serach_coil_magnet
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/servos_numbered_t.jpg)
servos_numbered
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/suporte_arduino_t.jpg)
suporte_arduino
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/suporte_fanuc_t.jpg)
suporte_fanuc
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/suporte_fanuc_montado_t.jpg)
suporte_fanuc_montado
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/suporte_montado_t.jpg)
suporte_montado
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/tao_pie_pie_t.jpg)
tao_pie_pie
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/topologia_rede_t.jpg)
topologia_rede
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/truth_table_mux_t.jpg)
truth_table_mux
![](/public/LAR Projects/Humanoid/2013_TelmoRafeiro/thesis/Imagens/vibrating_gyro_t.jpg)
vibrating_gyro