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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, ...
Parallelization of a Multipartite Graph Matching Algorithm for Tracking Multiple Football Players
(2018)
This work describes the parallel methodology for a football tracking algorithm based on multipartite graphs using MPI and OpenMP. The proposed algorithm use a consumer-producer scheme to overlap the computing time of the ...
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 ...
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 ...
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 ...
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 ...
Automated Quantification of Ki-67 on Gastric Epithelial Tissue based on Cell Nuclei Area Ratio
(2022)
The objective was to develop an automated algorithm for the estimation of a protein (Ki-67) index based on cell nuclei area ratio of gastric epithelial tissue cells; for this purpose, digital histopathology images were ...
Torso, mobile platform and head integration for a humanoid robot
Integración de un torso, base móvil y una cabeza, para un robot humanoide
(2019)
En el ARCOS-Lab, se tiene como proyecto principal, la construcción de un robot
humanoide de cuerpo completo, capaz de realizar tareas de manipulación de objetos a un nivel
elevado de precisión y complejidad. Para ello, ...
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 ...
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
(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 ...