2 research outputs found

    Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances

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    There is an open discussion between those who defend mass-distributed models for humanoid robots and those in favor of simple concentrated models. Even though each of them has its advantages and disadvantages, little research has been conducted analyzing the control performance due to the mismatch between the model and the real robot, and how the simplifications affect the controller's output. In this article we address this problem by combining a reduced model of the humanoid robot, which has an easier mathematical formulation and implementation, with a fractional order controller, which is robust to changes in the model parameters. This controller is a generalization of the well-known proportional-integral-derivative (PID) structure obtained from the application of Fractional Calculus for control, as will be discussed in this article. This control strategy guarantees the robustness of the system, minimizing the effects from the assumption that the robot has a simple mass distribution. The humanoid robot is modeled and identified as a triple inverted pendulum and, using a gain scheduling strategy, the performances of a classical PID controller and a fractional order PID controller are compared, tuning the controller parameters with a genetic algorithm.The research leading to these results has received funding from the ARCADIA project DPI2010-21047- C02-01, funded by CICYT project grant on behalf of Spanish Ministry of Economy and Competitiveness, and from the RoboCity2030-II-CM project (S2009/DPI-1559), funded by the Research and Development Work Programme of the Community of Madrid and cofunded by Structural Funds of the EU.Publicad

    Interacciones basadas en gestos: revisi贸n cr铆tica

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    This paper presents a critical review of human-computer interactions (HCI) based on gestures. Gestures, as ways of non-verbal communication, have been of interest in HCI because they make possible the interaction with the machine through the body, as an agent that perceives and acts in the world. The review was carried out in the most critical databases in HCI, as well as some Latin-American academic sources, and included an analysis of the evolution of gesture-based interactions, current work, and future perspectives. The article is carried out holistically, considering both technical and human issues: psychological, social, and cultural, as well as their relationships. We present this analytical process as a scientometric description of the search results, the description of the gesture as a means of interaction, the techniques used for the different steps in the gesture recognition process, and the presentation of the applications and challenges of gesture-based interactions. It concludes through a series of questions that invite the reader to think about potential research focus on gesture-based interactions.Este art铆culo presenta una revisi贸n cr铆tica de la interacci贸n humano-computador (HCI) basada en gestos. El gesto, como una forma de comunicaci贸n no verbal, ha sido de inter茅s para el 谩rea de HCI en la b煤squeda de alternativas de interacci贸n entre el humano y la m谩quina, a trav茅s del cuerpo como agente que percibe y act煤a en el mundo. La revisi贸n se hizo en las bases de datos de mayor importancia en HCI y en algunas fuentes de literatura acad茅mica latinoamericana en el 谩rea, e incluye un an谩lisis de la evoluci贸n de las interacciones basadas en gestos, el trabajo actual y las perspectivas a futuro. El an谩lisis se desarrolla de forma hol铆stica y abarca asuntos t茅cnicos y humanos: psicol贸gicos, sociales y culturales, as铆 como su relaci贸n. Este proceso anal铆tico se presenta como una descripci贸n cienciom茅trica de los resultados de las b煤squedas, a fin de exponer el gesto como medio de interacci贸n, las t茅cnicas utilizadas para los diferentes pasos en el proceso de reconocimiento de gestos y las aplicaciones y desaf铆os de las interacciones basadas en gestos. Como conclusi贸n se formula una serie de preguntas que invitan al lector a pensar en potenciales focos de investigaci贸n en las interacciones basadas en gestos
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