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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
(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 ...
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 ...
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 ...
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 ...
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 ...
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 ...
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 ...
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 ...