Listar Ingeniería eléctrica por procedencia "UCR::Vicerrectoría de Investigación::Unidades de Investigación::Ingeniería::Instituto Investigaciones en Ingeniería (INII)"
Mostrando ítems 1-20 de 21
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A survey on 3D Perception for robot object manipulation tasks
(2019)Un sistema confiable de manipulación de objetos requiere de percepción sofisticada. Aspectos importantes de este sistema es ser capaz de detectar la forma, tamaño y pose de los objetos a manipular. Estas capacidades se ... -
An Object Manipulation System Architecture for Humanoid Robots Based on Primate Cognition
(2018)Currently one of the most important challenges is to bring robots out of factory floors to work alongside humans. Because these environments are characterized by a very large variety of objects, a key factor is to provide ... -
Analysis of Atomic Manipulation Tasks in human- shared scenarios (a Kitchen and a Collaborative Workshop Table) for a Humanoid Robot
(2018)In this paper we analyze the vocabulary of an action description language to be used, together with a low level object controller, by a humanoid robot in two specific scenarios: a kitchen and a collaborative workshop ... -
Automatic Translation of Spanish Natural Language Commands to Control Robot Comands Based on LSTM Neural Network
(2019)In this paper, we propose a high level layer able to translate motion commands in natural spanish language to a formal intermediate representation called Robot Control Language (RCL). The layer was built by using the ... -
Comparative Efficiency Study of Two Proposed Designs Tested in Water and Air Cooling Conditions for a High Power Humanoid Robot Hollow Joint
(2018)When a robot is designed, usually the weight of the same motors limits the maximum payload of the robot. While the designer tries to increase the power of the motors to give the robot better payload capacity, by doing so, ... -
Development of an alternative procedure to verify “in situ” volumetric diaphragm type gas meters for residential use
(2015-09-21)Cet article montre les performances métrologiques du compteur de gaz portatif mis au point pour les mesures de volume dans le domaine, quand il fonctionne à différentes conditions à l'obtention du diplôme, mais similaires ... -
Fractional order model identification: Computational optimization
(2015-10-26)This paper deals with the identification of fractional models with one fractional parameter. This kind of models are capable to represent an extensive range of dynamics, including overdamped and oscillatory behaviors. The ... -
I-PD controller as an structural alternative to servo/regulation tradeoff tuning
(2018)One of the recurrent topics in the PI/PID literature of recent years is the incorporation of the tradeoff between the two possible modes of closed-loop operation: servo and regulation. Tuning rules are usually provided as ... -
Improvement of the Control System Performance based on Fractional-Order PID Controllers and Models with Robustness Considerations
(2018)In this paper we assess the performance improvement achievable by using onedegree-of-freedom fractional-order proportional-integral-derivative controllers (FOPI/FOPID) instead of their integer-order counterparts (PI/PID). ... -
Learning the prediction error for improving an analytical-based prediction (object-model) system for manipulation tasks
(2018)One of the main tasks in robotics today, is to bring robots closer to humans in everyday situations. This requires the robot to understand how its environment (objects, people, conditions) behaves. One method that tries ... -
Mapeo para traducción, del lenguaje de acción a instrucciones del modelo de objetos
(2020)En este trabajo de investigación se presenta una propuesta que intenta cerrar la brecha entre el razonamiento y la planificación, y los controladores que producen movimientos y acciones en el mundo real, esto para un robot ... -
Multi-objective optimal tuning of two degrees of freedom PID controllers using the ENNC method
(2016-10-13)In this paper the Enhanced Normalized Normal Constrained method is applied to find the optimal tuning of second order PID controllers. This tuning takes into account both the servo and regulatory modes simultaneously, as ... -
Pushing cylinders: Expanding on object-based manipulation
(2020-07)Competent assistant robots need to understand their environment to be able to perform skilled manipulation tasks. One way of achieving it is to have knowledge about the physical behaviour of objects and how they respond ... -
Robotic architecture design to map an action language to a low level motion commands for skillful manipulation
(2019)This paper gives an overview of a robotic architecture meant for skillful manipulation. This design is meant to close the gap between the high level layer (reasoning and planing layer) and the object model system (physical ... -
Robotic architecture to map an action language to a low level motion commands for skillful manipulation
(2020)This paper gives an overview of a robotic architecture meant for skillful manipulation. This design is meant to close the gap between the high-level layer (reasoning and planing layer) and the object model system (physical ... -
Robust PI/PID controllers for load disturbance based on direct synthesis
(2018-10)It is recognized that disturbance rejection is much more important than set-point tracking for many process control applications, leading set-point tracking to a secondary level of interest. In this paper a proposal for ... -
Robustness/performance tradeoff for anisochronic plants with two degrees of freedom PID controllers
(2015)In this paper, the anisochronic model (which is able to represent both over-damped and under-damped process with the same topology) is used for the tuning of PI and PID controllers. The relationship between robustness and ... -
Sensor de fuerza/Torque para un control por impedancia de la base móvil de un Robot
(2019)Se diseñó y construyó un prototipo en impresión 3D de un sensor de Fuerza/Torque de tres grados de libertad a partir de la modificación de una placa metálica que soporta el carruaje y motor de la base móvil de un robot ... -
Smart placement of a two-arm assembly for an everyday object manipulation humanoid robot based on capability maps
(2018)A robot that will execute everyday object manip- ulation tasks needs a competent body that can handle as many different objects as possible in as many ways as possible. To accomplish this, we must design the robot body ... -
Torque sensor geometry study on 3D simulated conditions for a Hollow robotic joint
(2019)El sensor de torque es el componente que le brinda a una articulación robótica la capacidad de ser amigable con su entorno, ya que posibilita a un brazo robótico a tomar acciones al captar disturbios externos mientras ...