Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)最新文献

{"title":"Antagonistic torsion spiral springs variable stiffness actuator - ATOSS VSA","authors":"D. R. Richards, V. A. Kich, R. S. Guerra","doi":"10.29327/118637.1-7","DOIUrl":"https://doi.org/10.29327/118637.1-7","url":null,"abstract":"This paper presents the design and construction of an unprecedented, controllable stiffness, elastic series actuator, using two flat spiral torsion springs. This actuator has some advantages compared to elastic series actuators with fixedspring rigidity, which either have little rigidity, and end up deforming undesirably, or have a lot of rigidity and end up damaging themselves and the environment around them. The proposed solution aims to maintain the functionality of protecting the robot and its surroundings, absorbing any unexpected impact that may happen during this interaction. Compliance, combined with intelligent control systems capable of dealing with dynamic environments, has the potential of allowing the development of more versatile robots, as compliant actuators can be under-actuated and embedded computer systems tend to increase in capacity and reduce in cost. The research goes from computer-aided mechanical design, mathematical modeling of a spring and design of components that fit certain force and size constraints, to testing a new actuator under different working conditions. At the end of the research, the first prototype of the actuator with manual stiffness control was built.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125089884","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}

{"title":"Semi-autonomous UVMS simulation: vehicle and manipulator pose control using artificial markers for localization","authors":"Yuri Oliveira, Diogo A. Martins, L. Schnitman, M. Reis","doi":"10.29327/118637.1-11","DOIUrl":"https://doi.org/10.29327/118637.1-11","url":null,"abstract":"This work describes the developing and simulation of semi-autonomous Underwater Vehicle Manipulator System (UVMS) operation. It is the sequel from our previous paper on Remote underwater Operation Vehicle (ROV) pose control [1]. We designed a methodology that helps UVMS operators to perform its tasks. This method locates underwater structures and pre-allocate the UVMS itself and its manipulator in a pose that facilitates the operation. Every sensor and actuator used are already available in commercial UVMS. We tested our development in a virtual 3D simulation using ROS and Gazebo. We utilized Musa Manhães [2] environment and BIR* underwater structure from our previous work. The simulation presented good results with small localization and positioning error, despite underwater environment issues. Key-words: UVMS, ROV, manipulator, control, simulation.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128395765","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}

{"title":"Vision-guided automatic tasks applied to a 5-DOF robotic arm","authors":"Felipe R. Nascimento, R. Lima, M. Reis","doi":"10.29327/118637.1-18","DOIUrl":"https://doi.org/10.29327/118637.1-18","url":null,"abstract":"There is still a wide field to explore and develop in the robotic intervention branch, particularly in which concerns robots autonomy when interacting with the environment and human beings. Motivated by the benefits of the use of service robots and its ascension, this study aims to show the possibilities of using a robotic arm for automatic tasks. Presented experiments were driven using the PhantomX Reactor Robot Arm (an open-source robotic arm) within the ROS framework alongside computational vision applications using OpenCV and ArUco markers libraries. This setup made it possible for the robot to search and recognize markers using a camera attached to it and then manipulate objects under predefined movements. The results demonstrate the robot can well-perform tasks, being reliable and accurate, making it possible to scale up those functions on intervention industrial robots, as the concepts are the same and the functionalities are similar.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"11 Suppl 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126738291","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}

{"title":"Indoor localization for mobile robots using fiducial markers","authors":"Etevaldo Cardoso, M. Reis, G. Santos","doi":"10.29327/118637.1-4","DOIUrl":"https://doi.org/10.29327/118637.1-4","url":null,"abstract":"The work aimed to use fiducial markers to locate a robot indoors using a simulation environment as a testing tool. An environment with scattered fiducial markers was developed for the robot to identify and be able to recalculate its position with the odometer sensors reference frame. It was observed that this method applied for indoor environments has a low computational cost, caused for the readability of the landmarks, and a high accuracy in robot localization compared to other methods.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116374924","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}

{"title":"Simulation system for learning of social rules using gazebo and openai gym","authors":"F. Pimentel, Plinio Thomaz Aquino-Junior","doi":"10.29327/118637.1-12","DOIUrl":"https://doi.org/10.29327/118637.1-12","url":null,"abstract":"With the increasing development of service robotics and the increasing appearance of social robots, showing respect for social norms becomes crucial in the integration of these robots in environments with human beings. In recent years, research related to social norms in robotics has moved from model-based approaches to learning-based approaches. Such approaches require the realization of several experiments that are often done in a robot and a real environment. This work proposes the development of a simulation system for social robots based on ROS, Gazebo and OpenAI with the implementation of Proxemics and Social Force Model. With this system, it will be possible to accelerate the learning of social rules among other capabilities, as well as to enable research in this area to be carried out even without having a physical robot.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126123282","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}

{"title":"Mechanical development of modules for a modular service robot","authors":"William Yassuhiro Yaguiu, Plinio Thomaz Aquino-Junior","doi":"10.29327/118637.1-17","DOIUrl":"https://doi.org/10.29327/118637.1-17","url":null,"abstract":"Modularization has been implemented in products with complex systems and mechanisms, facilitating its development, disassembly and assembly of the modules for eventual maintenance and its transport, depending on its size. In robotics, specifically service robotics, the use of modular architecture is growing every day. In addition to the advantages mentioned above, it also facilitates the development of a new module for the robotic structure. Thus, this research project aims at the structural development and interfaces of the modules for a service robot, allowing its disassembly and assembly of the robot by any user. Based on the research that was done to determine the structural elements of each module and the types of interfaces that best fit the project, it was possible to model the prototypes of each module of the robotic structure.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114838823","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}

{"title":"Path planning for a sequence of goals into a manufacturing scenario","authors":"Rafael Barreto S. Lopes, P. Farias","doi":"10.29327/118637.1-6","DOIUrl":"https://doi.org/10.29327/118637.1-6","url":null,"abstract":"Efficient path planning considering a sequence of goals in a manufacturing scenario is still challenging for nonholonomic robots. In this paper, we present an approach to improve the efficiency of path planning considering a sequence of goals for four-wheeled Drive Robots. Besides using a nearoptimal sampling-based algorithm applied in a map with real inflating obstacles, virtual obstacles are added to the map to help the generation of smoother paths that lead the robot from the start pose to its goals poses faster, with fewer mechanical efforts, and less power consumption.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132058017","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}

{"title":"Motion planning using stomp apllied to UR5 manipulators","authors":"M. F. Vieira, A. Scolari","doi":"10.29327/118637.1-5","DOIUrl":"https://doi.org/10.29327/118637.1-5","url":null,"abstract":"In this paper, we experiment the use of an algorithm for motion planning, Stochastic Trajectory Optimization for Motion Planning (STOMP), in a Moveit! simulation environment. A brief presentation of the algorithm is made and its effectiveness is discussed, as well as the effects of the variation of some of its parameters. Resumo—Neste trabalho, experimenta-se a utilização de um algoritmo para planejamento de trajetória, Stochastic Trajectory Optimization for Motion Planning (STOMP), em um ambiente de simulação provido pelo Moveit!. Uma breve apresentação do algoritmo é feita e sua eficácia é discutida, bem como os efeitos da variação de alguns dos seus parâmetros.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130754998","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}

{"title":"Eeg signals classification: motor imagery to control a robotic manipulator","authors":"Kaike Wesley Reis, M. Reis, Oberdan Rocha Pinheiroa","doi":"10.29327/118637.1-16","DOIUrl":"https://doi.org/10.29327/118637.1-16","url":null,"abstract":"In contemporary society, there is an increase in the number of people with some type of motor disability, which can make it impossible to perform simple daily tasks such as walking or picking up an object. Activities related to limbs control of a human being are mainly associated with nervous system, which affected by some trauma or degenerative disease can disable neural commands transmission. However, by reading electroencephalogram (EEG) signals, it is possible to digitally direct them to their destination. This article seeks to present a computational model capable of controlling a robotic manipulator through EEG signals to move it along in axes: x, y and z. At the end, the proposed model efficiency and performance will be evaluated.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121629067","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}

{"title":"Quadcopter prototype: modeling, simulation and control","authors":"Diogo A. Martins, Yuri Oliveira, M. Martins, A. S. Sá, R. Fontes, Oberdan Pinheiro","doi":"10.29327/118637.1-10","DOIUrl":"https://doi.org/10.29327/118637.1-10","url":null,"abstract":"Unmanned aerial vehicles have gained tremendous visibility over the last few years, because of their flexibility and the possibility of application in several areas of knowledge. Among these vehicles stands out the category of four engines, or quadcopters. This work aimed to model, simulate, control and build a quadcopter prototype. We also present vehicle’s mathematical modeling, prototype development, parameters identification, implemented control strategy and ROS integration. Experiments were performed with the prototype in order to analyze its agreement with the simulated model and performance in stability tests, reference tracking, disturbance rejection and free flight. The built prototype presented satisfactory results in bench tests and free flight. Key-words: Quadcopter; PID Control; Simulation; Arduino; Prototype; ROS; I. INTRODUÇÃO Os veı́culos aéreos não tripulados (VANTs), ou em inglês UAVs (Unmanned Aerial Vehicle), tem ganhado enorme visibilidade ao longo dos últimos anos por conta de sua flexibilidade e possibilidade de aplicação em diversas áreas do conhecimento. A popularização e o crescimento das pesquisas relacionadas ao uso desses veı́culos advêm da evolução da capacidade computacional dos microprocessadores, miniaturização de dispositivos e redução dos custos de produção. Os estudos com VANTs englobam voos cooperativos em formação [1], em missões de reconhecimento e mapeamento de fontes de poluição [2] e radiação nuclear [3]. Dentre os veı́culos aéreos não tripulados mais estudados e comercializados destaca-se os de asa rotativa de decolagem vertical (Vertical Takeoff and Landing VTOL). Suas habilidades de voo contemplam necessidades civis e militares em diversas aplicações como: mapeamentos, transportes, monitoramento de desastres, proteção ambiental, aplicação de defensivos agrı́colas, monitoramento de linhas de transmissão, inspeção de infraestruturas, dentre outras. Tendo em vista o crescimento nos estudos e oportunidades de aplicações dessa categoria de veı́culo, escolheu-se um VANT VTOL de quatro motores, ou quadricóptero, como plataforma para esse trabalho. A coleta dos dados foi realizada através da integração com o ROS. Robot Operating System (ROS), um framework robusto e unificado para modelagem de robôs, controle e visualização [4]. *This work was supported by Universidade Federal da Bahia, SENAI CIMATEC and Brazilian Institute of Robotics 1 Diogo A. Martins: diogomartins.ac@gmail.com 2 Yuri Oliveira: yuri.matos@gmail.com 3 Márcio A. F. Martins: marciomartins@ufba.br 4 Alı́rio S. Sá: aliriosa@ufba.br 5 Raony M. Fontes: raony@ufba.br 6 Oberdan Pinheiro: oberdan.pinheiro@gmail.com Assim, este artigo apresenta a modelagem, simulação, controle e prototipagem de um quadricóptero integrado ao framework de robótica ROS. A Seção II demonstra a modelagem dinâmica e cinemática do sistema. Na Seção III são apresentadas as especificações do protótipo, a relações entre seus componentes e integração com o ROS. A Seção IV retrata","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123024037","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}