Now showing items 1-10 of 16
Torque sensor geometry study on 3D simulated conditions for a Hollow robotic joint
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 ...
Analysis of Atomic Manipulation Tasks in human- shared scenarios (a Kitchen and a Collaborative Workshop Table) for a Humanoid Robot
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 ...
Smart placement of a two-arm assembly for an everyday object manipulation humanoid robot based on capability maps
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 ...
Automatic Translation of Spanish Natural Language Commands to Control Robot Comands Based on LSTM Neural Network
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 ...
Multi-objective optimal tuning of two degrees of freedom PID controllers using the ENNC method
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 ...
Fractional order model identification: Computational optimization
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 ...
Robotic architecture design to map an action language to a low level motion commands for skillful manipulation
Diseño de una arquitectura robótica para mapear un lenguaje de acción a comandos de movimiento de bajo nivel para manipulación hábil
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 ...
Sensor de fuerza/Torque para un control por impedancia de la base móvil de un Robot
Force/Torque Sensor for Impedance control in the mobile platform of a humanoid robot
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 ...
Robotic architecture to map an action language to a low level motion commands for skillful manipulation
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 ...
Comparative Efficiency Study of Two Proposed Designs Tested in Water and Air Cooling Conditions for a High Power Humanoid Robot Hollow Joint
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, ...