Estrategias y tecnologías para la colaboración segura entre personas y robots en entornos industriales

383 p.En este trabajo se presentan diferentes contribuciones encaminadas a facilitar el desarrollo de soluciones robóticas colaborativas fáciles de usar, flexibles y seguras.Fáciles de usar mediante la utilización de tecnologías semánticas que permiten combinar dos mecanismos de interacción, los gestos y la voz, La contribución incluye, además, el desarrollo de la tecnología necesaria para el reconocimiento de gestos.La contribución en el campo de la seguridad se ha centrado en la definición de arquitecturas y estrategias de seguridad, así como en el desarrollo de tecnologías que permiten implementar el modo SSM: el seguimiento de personas y la monitorización de proximidad. Además se ha experimentado con potenciales usuarios de la robótica colaborativa para conocer el grado de aceptación de las diferentes tecnologías desarrolladas, tanto para la seguridad como para la interacción Finalmente se presentan las contribuciones encaminadas a dotar a los robots de capacidades de percepción que les doten de la flexibilidad necesaria para adaptarse a las condiciones cambiantes del entorno

Simplifying robotic locomotion by escaping traps via an active tail

Legged systems offer the ability to negotiate and climb heterogeneous terrains, more so than their wheeled counterparts \cite{freedberg_2012}. However, in certain complex environments, these systems are susceptible to failure conditions. These scenarios are caused by the interplay between the locomotor's kinematic state and the local terrain configuration, thus making them challenging to predict and overcome. These failures can cause catastrophic damage to the system and thus, methods to avoid such scenarios have been developed. These strategies typically take the form of environmental sensing or passive mechanical elements that adapt to the terrain. Such methods come at an increased control and mechanical design complexity for the system, often still being susceptible to imperceptible hazards. In this study, we investigated whether a tail could serve to offload this complexity by acting as a mechanism to generate new terradynamic interactions and mitigate failure via substrate contact. To do so, we developed a quadrupedal C-leg robophysical model (length and width = 27 cm, limb radius = 8 cm) capable of walking over rough terrain with an attachable actuated tail (length = 17 cm). We investigated three distinct tail strategies: static pose, periodic tapping, and load-triggered (power) tapping, while varying the angle of the tail relative to the body. We challenged the system to traverse a terrain (length = 160 cm, width = 80 cm) of randomized blocks (length and width = 10 cm, height = 0 to 12 cm) whose dimensions were scaled to the robot. Over this terrain, the robot exhibited trapping failures independent of gait pattern. Using the tail, the robot could free itself from trapping with a probability of 0 to 0.5, with the load-driven behaviors having comparable performance to low frequency periodic tapping across all tested tail angles. Along with increasing this likelihood of freeing, the robot displayed a longer survival distance over the rough terrain with these tail behaviors. In summary, we present the beginning of a framework that leverages mechanics via tail-ground interactions to offload limb control and design complexity to mitigate failure and improve legged system performance in heterogeneous environments.M.S

Estrategias y tecnologías para la colaboración segura entre personas y robots en entornos industriales

383 p.En este trabajo se presentan diferentes contribuciones encaminadas a facilitar el desarrollo de soluciones robóticas colaborativas fáciles de usar, flexibles y seguras.Fáciles de usar mediante la utilización de tecnologías semánticas que permiten combinar dos mecanismos de interacción, los gestos y la voz, La contribución incluye, además, el desarrollo de la tecnología necesaria para el reconocimiento de gestos.La contribución en el campo de la seguridad se ha centrado en la definición de arquitecturas y estrategias de seguridad, así como en el desarrollo de tecnologías que permiten implementar el modo SSM: el seguimiento de personas y la monitorización de proximidad. Además se ha experimentado con potenciales usuarios de la robótica colaborativa para conocer el grado de aceptación de las diferentes tecnologías desarrolladas, tanto para la seguridad como para la interacción Finalmente se presentan las contribuciones encaminadas a dotar a los robots de capacidades de percepción que les doten de la flexibilidad necesaria para adaptarse a las condiciones cambiantes del entorno

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

Proceedings of the Post-Graduate Conference on Robotics and Development of Cognition, 10-12 September 2012, Lausanne, Switzerland

The aim of the Postgraduate Conference on Robotics and Development of Cognition (RobotDoC-PhD) is to bring together young scientists working on developmental cognitive robotics and its core disciplines. The conference aims to provide both feedback and greater visibility to their research as lively and stimulating discussion can be held amongst participating PhD students and senior researchers. The conference is open to all PhD students and post-doctoral researchers in the field. RobotDoC-PhD conference is an initiative as a part of Marie-Curie Actions ITN RobotDoC and will be organized as a satellite event of the 22nd International Conference on Artificial Neural Networks ICANN 2012

Proceedings of the Post-Graduate Conference on Robotics and Development of Cognition, 10-12 September 2012, Lausanne, Switzerland

The aim of the Postgraduate Conference on Robotics and Development of Cognition (RobotDoC-PhD) is to bring together young scientists working on developmental cognitive robotics and its core disciplines. The conference aims to provide both feedback and greater visibility to their research as lively and stimulating discussion can be held amongst participating PhD students and senior researchers. The conference is open to all PhD students and post-doctoral researchers in the field. RobotDoC-PhD conference is an initiative as a part of Marie-Curie Actions ITN RobotDoC and will be organized as a satellite event of the 22nd International Conference on Artificial Neural Networks ICANN 2012