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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...
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...
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...
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...
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...
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...
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