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The Role of Inertial Stabilization in Walking Patterns 惯性稳定在行走模式中的作用
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628428
J. Quintanilla, Moises Perez, Rodolfo Balderas, Alejandro González, A. Cárdenas, M. Maya, D. Piovesan
{"title":"The Role of Inertial Stabilization in Walking Patterns","authors":"J. Quintanilla, Moises Perez, Rodolfo Balderas, Alejandro González, A. Cárdenas, M. Maya, D. Piovesan","doi":"10.1109/comrob53312.2021.9628428","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628428","url":null,"abstract":"Impedance control has been often proposed as a stable control strategy for human walking. On the other hand, the continuous control of stiffness in human is energetically expensive. It has been shown that systems with unstable equilibrium points can be stabilized using inertial effects. A Kapitza’s pendulum shows that it is possible to stabilize an inverted pendulum by making its base oscillate vertically. This work provides a set of simulations that show how an impedance control strategy can be used for dynamic stabilization. The simulations presented are based on experimental data extracted from publicly available videos depicting the self-paced walking pattern of an unimpaired human and a that of a NAO humanoid robot. In both cases, the average lower limb stiffness can be maintained under the minimum level of stability if its modulation induces vertical oscillations on the trunk with frequencies compatible with human locomotion. The results reiterate the possibility of integrating the intermittent control of human balance under the umbrella of impedance control.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121252984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Optimal Motions of a Welding Robot for Cooperative Tasks with a 2 DOF Positioner 带2自由度定位器的焊接机器人协同任务的最优运动
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628721
Oscar I. Santellano J., J. Pamanes G., Julio C. Rodríguez C., J. J. Pamanes G.
{"title":"Optimal Motions of a Welding Robot for Cooperative Tasks with a 2 DOF Positioner","authors":"Oscar I. Santellano J., J. Pamanes G., Julio C. Rodríguez C., J. J. Pamanes G.","doi":"10.1109/comrob53312.2021.9628721","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628721","url":null,"abstract":"The application of cooperative positioner devices for industrial robotic workstations is becoming an interesting alternative. Such devices ease the accessibility of robots to tasks and increase their productivity. Thus, motion planning of robots working in cooperation with positioners becomes a noteworthy issue for corporations. Indeed, simultaneous and continuous motions of both the positioner and the robot should be suitably designed to increase the performance of the manufacturing system. In this paper, the simultaneous motions of a robot and a positioner table are synthesized such that a complex 3D welding seam is applied on a workpiece. The degree of freedom (DOF) of the considered robot and the cooperating table are 6 and 2, respectively. The applied strategy to obtain the joint trajectories of the system allows optimizing the kinematic performance of the robot during the execution of the task. Two indices of performance of robots are optimized: the translational and the rotational manipulabilities.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123531986","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
[ComRob 2021 Title Page] [ComRob 2021标题页]
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628668
{"title":"[ComRob 2021 Title Page]","authors":"","doi":"10.1109/comrob53312.2021.9628668","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628668","url":null,"abstract":"","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121764082","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure 转子故障时四旋翼的主动容错控制
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628504
Romeo Falcón, H. Ríos, A. Dzul
{"title":"Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure","authors":"Romeo Falcón, H. Ríos, A. Dzul","doi":"10.1109/comrob53312.2021.9628504","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628504","url":null,"abstract":"This paper presents the desing of an active fault tolerant control for the stabilization problem of a Quad-Rotor under the effects of a rotor failure. First, the healthy nonlinear model is presented. Then, the failure scenario is analyzed in order to identify how this affects the dynamics. It is assumed that the failure has been previously isolated. The fault tolerant control design is composed of PID and PD controllers allowing the yaw angular velocity to spin at a constant speed, around the vertical axis, and achieving a regulation task in the position (x,y,z). The closed-loop stability is formally proven. Numerical simulations demonstrates the efficiency of the proposed control strategy.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114788753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Towards the development of the capability of drawing portraits with the humanoid robot DarwinOP 对仿人机器人DarwinOP绘制人像能力的发展进行了探讨
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628684
Pablo Sierra Costa, Alexis Adrian Ortiz Olvera, J. M. Ibarra Zannatha
{"title":"Towards the development of the capability of drawing portraits with the humanoid robot DarwinOP","authors":"Pablo Sierra Costa, Alexis Adrian Ortiz Olvera, J. M. Ibarra Zannatha","doi":"10.1109/comrob53312.2021.9628684","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628684","url":null,"abstract":"This paper presents the development of an application that enables a small commercial humanoid robot, the DarwinOP, to draw the face of a person. The corresponding project is realized in three phases: the artificial vision system, the direct and inverse kinematics and the control system. In this paper it is presented: i)The design and the implementation of the vision system algorithms, and the obtained results that generate a group of lines that represent the portrait to draw; ii)The development of the direct and inverse kinematics of the robotic arm of the humanoid DarwinOP which has been modified adding a joint: flexion-extension of the wrist; and iii)The design of the workstation and the results obtained previously to the final implementation in the internal computer of the DarwinOP.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"53 Suppl 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133645214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Analysis of a Humanoid Robot Walking in an Arbitrary Direction on an Sloping Surface 仿人机器人在倾斜曲面上任意方向行走的分析
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628548
J. Fierro, J. A. Pámanes, J. Aquino, E. J. Ollervides
{"title":"Analysis of a Humanoid Robot Walking in an Arbitrary Direction on an Sloping Surface","authors":"J. Fierro, J. A. Pámanes, J. Aquino, E. J. Ollervides","doi":"10.1109/comrob53312.2021.9628548","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628548","url":null,"abstract":"When a humanoid robot walks on a sloping plane in an arbitrary direction, the right leg flexion is different to that of the left leg. In this way, the orientation of the torso is gotten to preserve the equilibrium of the humanoid during the walking. In such a case, the specification of the required 3D motions of the pelvis and feet becomes a quite complex issue. To solve this problem, in this paper a general and simplified formulation is proposed and applied to obtain a cycloidal walking pattern for a humanoid robot. Simulations of walking are achieved for several study cases that show the efficacy of the proposed approach.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114344151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Use of convolutional neural networks for autonomous driving maneuver 卷积神经网络在自动驾驶机动中的应用
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628491
Oscar González-Miranda, J. M. Ibarra-Zannatha
{"title":"Use of convolutional neural networks for autonomous driving maneuver","authors":"Oscar González-Miranda, J. M. Ibarra-Zannatha","doi":"10.1109/comrob53312.2021.9628491","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628491","url":null,"abstract":"In this work, we use a convolutional neural network (CNN) to process the lidar data of an autonomous vehicle and so get the steering angle to carry out the obstacle evasion and parking maneuvers. To introduce the lidar data and other measurements in a CNN, we map the 400 polar vectors (ρi, ϕi) in a 20 × 20 normalized matrix; which the position of each element correspond to an angle ϕi and the elements are ρi/ρmax. We probe the method in simulator developed by the Freie Universität Berlin [1], getting a similar performance as a finite state machine, used as an expert driver in the training.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128316507","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Position control with dynamic obstacle avoidance in omnidirectional mobile robots 全向移动机器人的动态避障位置控制
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628427
Rodrigo Villalvazo-Covián, Marlen Meza-Sánchez, Eddie Clemente, M. C. Rodríguez-Liñán, Luis Monay-Arredondo, Gustavo Olague
{"title":"Position control with dynamic obstacle avoidance in omnidirectional mobile robots","authors":"Rodrigo Villalvazo-Covián, Marlen Meza-Sánchez, Eddie Clemente, M. C. Rodríguez-Liñán, Luis Monay-Arredondo, Gustavo Olague","doi":"10.1109/comrob53312.2021.9628427","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628427","url":null,"abstract":"The development of a position controller for omnidirectional mobile robots with dynamic obstacle avoidance is addressed in this work. Asymptotic stability is proven under Lyapunov theory, and the analysis of the fulfillment of the dynamic obstacle avoidance task is also outlined. Numerical simulations are presented to illustrate the capabilities of the proposed control law.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116086092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Time delay compensation in a bilateral teleoperation system 双边遥操作系统的时延补偿
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628418
C. Gómez-Rosas, R. Portillo-Vélez
{"title":"Time delay compensation in a bilateral teleoperation system","authors":"C. Gómez-Rosas, R. Portillo-Vélez","doi":"10.1109/comrob53312.2021.9628418","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628418","url":null,"abstract":"Time delay is a relevant factor in the performance of teleoperation systems. In this work, an experimental 1-DOF testbed has been designed and built. It considers brushless motors as actuators for a master and a slave rotational robots. Architectures torque-velocity and current-velocity are proposed and evaluated in the experimental testbed applying the wave variable approach. Simulations and experimental results shows that is possible represent the proposed architectures with the basic compensators, based on wave variables, which allows the teleoperation system to compensate the time delay effect and maintain stable behavior.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117193038","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Inverse Kinematics of a RSRR HeIse wheel using Neural Networks 基于神经网络的RSRR轮毂逆运动学研究
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628728
J. Flores, H. Moreno, I. Carrera, M. A. Garcia, Roberto G. Adan
{"title":"Inverse Kinematics of a RSRR HeIse wheel using Neural Networks","authors":"J. Flores, H. Moreno, I. Carrera, M. A. Garcia, Roberto G. Adan","doi":"10.1109/comrob53312.2021.9628728","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628728","url":null,"abstract":"The RSRR HeIse wheel is a 2 DOF mechanism that can transform a circular wheel into a hybrid wheel with multiple limbs. Solving the inverse kinematics of this mechanism requires solving a system of non-linear equations with multiple solutions. In order to find an efficient algorithm for on-line computation of the inverse kinematics, in this work we explore the use of artificial neural networks. The analytical solution of forward kinematics is used to generate the data set for the neural networks training. Different structures of networks are tested and their performance in terms of accuracy is discussed. The results of a simulation using the obtained model shows the efficacy of this method.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115597540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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