J. González-Sierra, J. Santiaguillo-Salinas, E. Aranda-Bricaire
{"title":"Reciprocal collision avoidance for a group of second order agents","authors":"J. González-Sierra, J. Santiaguillo-Salinas, E. Aranda-Bricaire","doi":"10.1109/COMROB.2016.7955155","DOIUrl":"https://doi.org/10.1109/COMROB.2016.7955155","url":null,"abstract":"This paper focuses in the design of a formation control strategy for a group of second order agents while they avoid collisions against each other and possible obstacles, either static or dynamic. The control strategy is based on artificial potential functions. For the collision avoidance, the main novelty is the adaptation of the known results about repulsive vector fields for single integrator dynamics applied to the second order dynamics. The repulsive vector fields are based on a scaled counter clockwise unstable focus centered at the position of the other agents or obstacles. The control strategy is implemented on two different systems: second order dynamics and quadrotor dynamics. The theoretical results are verified by numerical simulations.","PeriodicalId":401137,"journal":{"name":"2016 XVIII Congreso Mexicano de Robotica","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124046108","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}
José Daniel Martinez Reyes, Germánico González Badillo, V. E. E. López, Guillermina Guerrero Mora
{"title":"Objects color clasification and repositioning operated by a delta robot","authors":"José Daniel Martinez Reyes, Germánico González Badillo, V. E. E. López, Guillermina Guerrero Mora","doi":"10.1109/COMROB.2016.7955157","DOIUrl":"https://doi.org/10.1109/COMROB.2016.7955157","url":null,"abstract":"A delta robot is a parallel arms robot that consists of three arms like parts linked to a common joint located at the base. One of the most important characteristics is the usage of parallelograms situated in the arms that maintain the orientation of the end effector. Many engineering applications in mechatronics environment are being enhanced by the usage of different kinds of robots, and this robot is not the exception. Used in the aerospace industry is one of the most important robots that makes possible some of the greatest aircraft simulator systems. In this work, the design and construction of a delta robot capable to identify and relocate objects according to its color is shown. Direct and indirect robot kinematics were obtained to know the positions of the end effector and the robot arms. Some tests were carried out with a color sensor to recognize different colors and to classify the objects due to the main objective, that this project is aimed to be used in food companies to detect fruits or vegetables in poor condition.","PeriodicalId":401137,"journal":{"name":"2016 XVIII Congreso Mexicano de Robotica","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130415921","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}
R. Suarez-Rivera, A. Loza-Álvarez, J. R. Espinosa-Baylon, S. Martínez-Cruz, K. Pérez-Alvarez, D. J. Arteaga, G. Perez-Soto, K. A. Camarillo-Gómez
{"title":"Adaptation of robot BIOLOID premium for weightlifting HuroCup — FIRA","authors":"R. Suarez-Rivera, A. Loza-Álvarez, J. R. Espinosa-Baylon, S. Martínez-Cruz, K. Pérez-Alvarez, D. J. Arteaga, G. Perez-Soto, K. A. Camarillo-Gómez","doi":"10.1109/COMROB.2016.7955156","DOIUrl":"https://doi.org/10.1109/COMROB.2016.7955156","url":null,"abstract":"In this paper, the modifications made to a robot Bioloid type A to participate in weightlifting competition HuroCup of the International Federation of the Association of Robot Soccer, FIRA, is presented. The changes are based on a static analysis in critical positions that the robot should take during weightlifting competition. Furthermore, the designed elements will be simulated before construction using finite element software.","PeriodicalId":401137,"journal":{"name":"2016 XVIII Congreso Mexicano de Robotica","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116581520","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}
M. I. Vargas-Signoret, M. Rojas-Romero, I. Trejo-Ávila, J. Velasco-Avella, E. Robles-Martinez, M. Santoyo-Mora, K. A. Camarillo-Gómez, G. Perez-Soto, Luis A. Morales-Hernandez
{"title":"Depth map construction with stereo vision for humanoid robot navigation","authors":"M. I. Vargas-Signoret, M. Rojas-Romero, I. Trejo-Ávila, J. Velasco-Avella, E. Robles-Martinez, M. Santoyo-Mora, K. A. Camarillo-Gómez, G. Perez-Soto, Luis A. Morales-Hernandez","doi":"10.1109/COMROB.2016.7955158","DOIUrl":"https://doi.org/10.1109/COMROB.2016.7955158","url":null,"abstract":"This article presents how stereoscopic vision is implemented in a humanoid robot with the purpose of selecting the most proper routine of movements to avoid obstacles encountered. The goals were to identify accurately the three-dimensional environment by using a depth map constructed with 2D images, acquired with a pair of cameras mounted on the robot, for their analysis using a Raspberry Pi 2 Model B to execute an algorithm of navigation. The experimental results demonstrate that the stereoscopic vision system is capable of measuring the relative position between objects and the humanoid robot with accuracy. With this information the humanoid robot would be able to avoid and pass through different obstacles, once the system recognizes a suitable solution for each situation. This article presents how stereoscopic vision is implemented in a humanoid robot with the purpose of selecting the most proper routine of movements to avoid obstacles encountered. The goals were to identify accurately the three-dimensional environment by using a depth map constructed with 2D images, acquired with a pair of cameras mounted on the robot, for their analysis using a Raspberry Pi 2 Model B to execute an algorithm of navigation. The experimental results demonstrate that the stereoscopic vision system is capable of measuring the relative position between objects and the humanoid robot with accuracy. With this information the humanoid robot would be able to avoid and pass through different obstacles, once the system recognizes a suitable solution for each situation.","PeriodicalId":401137,"journal":{"name":"2016 XVIII Congreso Mexicano de Robotica","volume":"362 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133781344","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}
Luis A. Ortega-Rodríguez, Adrián Salazar-Almanza, M. Tapia-Ruíz, J. Velasco-Avella, M. Santoyo-Mora, K. A. Camarillo-Gómez, Luis A. Morales Henández, G. Perez-Soto
{"title":"Open architecture controller for a 22-DOF humanoid robot","authors":"Luis A. Ortega-Rodríguez, Adrián Salazar-Almanza, M. Tapia-Ruíz, J. Velasco-Avella, M. Santoyo-Mora, K. A. Camarillo-Gómez, Luis A. Morales Henández, G. Perez-Soto","doi":"10.1109/COMROB.2016.7955159","DOIUrl":"https://doi.org/10.1109/COMROB.2016.7955159","url":null,"abstract":"In this paper, an open architecture controller for a humanoid robot of 22 degrees of freedom is presented, substituting the manufacturer controller. A humanoid robot represents a complex challenge to control it due to its own structure and the environment in which it has to interact. In order to interact with the environment, it must ensure the performance of the humanoid robot motion through developing small tasks. The proposed open architecture controller defines the position and velocity of each motor, as well as the execution time from a task in a single data stream, according with the perception of the environment given by an artificial vision system which will be omitted in this paper. The open architecture controller was developed with a Raspberry Pi 2 using the C++ programming language to send the data stream to the servomotors of the humanoid robot. The experimental results demonstrate an improvement in the execution of servomotors tasks, thus, the overall humanoid robot performance is improved; the proposed open architecture controller demonstrates several advantages over the manufacturer controller because it is possible to execute several processes simultaneously in less time.","PeriodicalId":401137,"journal":{"name":"2016 XVIII Congreso Mexicano de Robotica","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129546934","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}
Daniel Paul Romero-Martí, J. I. Nuñez-Varela, C. Soubervielle-Montalvo, Alfredo Orozco-de-la-Paz
{"title":"Navigation and path planning using reinforcement learning for a Roomba robot","authors":"Daniel Paul Romero-Martí, J. I. Nuñez-Varela, C. Soubervielle-Montalvo, Alfredo Orozco-de-la-Paz","doi":"10.1109/COMROB.2016.7955160","DOIUrl":"https://doi.org/10.1109/COMROB.2016.7955160","url":null,"abstract":"Service robots are expected to help us in different tasks in various environments such as homes, hospitals and offices. This work presents the first steps towards building a service robot at our university. The robot is provided with a topological map of a building floor (environmental map). Using this map the robot learns a path from one location to another by means of reinfocerment learning. During execution the robot is provided with a navigation map, related to the environmental map. We make use of a comercial Roomba robot and show how to create an interface in order to control it. Service robots are expected to help us in different tasks in various environments such as homes, hospitals and offices. This work presents the first steps towards building a service robot at our university. The robot is provided with a topological map of a building floor (environmental map). Using this map the robot learns a path from one location to another by means of reinfocerment learning. During execution the robot is provided with a navigation map, related to the environmental map. We make use of a comercial Roomba robot and show how to create an interface in order to control it.","PeriodicalId":401137,"journal":{"name":"2016 XVIII Congreso Mexicano de Robotica","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114396380","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}
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