Análisis, diseño y evaluación de estrategias de control de fuerza en robots caminantes

Esta Tesis Doctoral se centra en la realización de investigaciones en el campo de la robótica, y más concretamente en el análisis, diseño y evaluación de estrategias de control de fuerza y su aplicación a los robots caminantes. Entre otras ventajas potenciales que ofrece la incorporación de sistemas de control de fuerza en robots caminantes, se pueden destacar como las más significativas: evitar el riesgo de deslizamiento en los pies, mejora de la estabilidad mediante el control de la distribución de las fuerzas en las patas, disminución de la influencia de perturbaciones externas o internas (incluyendo errores de modelado), mejor adaptación al entorno, conseguir movimientos suaves (acomodaticios) del robot, evitar vibraciones innecesarias en la estructura mecánica, y optimizar el consumo de energía para hacer a los robots más autónomos. Así pues, esta memoria se desenvuelve en torno a una línea de investigación: el control de fuerza y su contribución a resolver problemas relacionados con la estabilidad y el control de la interacción con el entorno, en el campo de los robots caminantes. Entre los diversos tipos de robots caminantes posibles, se ha afrontado el problema del control de fuerza en dos casos de especial interés: robots humanoides y robots cuadrúpedos, que presentan problemáticas diferenciadas, y también algunos elementos comunes. En la tesis se investigan y proponen nuevas estrategias de control de fuerza para estos tipos de robots caminantes, lo que involucra el diseño de sensores de fuerza específicos. Los algoritmos de control propuestos aportan nuevas soluciones al problema del control de fuerza de las máquinas caminantes, que son de especial interés cuando éstas se desplazan por terreno irregular o están sometidas a perturbaciones. Se han seleccionado un robot humanoide que emplea accionamientos lineales y no lineales, y un robot cuadrúpedo de grandes dimensiones, como candidatos para realizar la parte de implementación de algoritmos y de evaluación experimental. Sobre las dos plataformas seleccionadas, se han llevado a cabo numerosos experimentos con la finalidad de verificar el grado de consecución de los objetivos propuestos, con resultados muy satisfactorios.Esta Tesis Doctoral se centra en la realización de investigaciones en el campo de la robótica, y más concretamente en el análisis, diseño y evaluación de estrategias de control de fuerza y su aplicación a los robots caminantes. Entre otras ventajas potenciales que ofrece la incorporación de sistemas de control de fuerza en robots caminantes, se pueden destacar como las más significativas: evitar el riesgo de deslizamiento en los pies, mejora de la estabilidad mediante el control de la distribución de las fuerzas en las patas, disminución de la influencia de perturbaciones externas o internas (incluyendo errores de modelado), mejor adaptación al entorno, conseguir movimientos suaves (acomodaticios) del robot, evitar vibraciones innecesarias en la estructura mecánica, y optimizar el consumo de energía para hacer a los robots más autónomos. Así pues, esta memoria se desenvuelve en torno a una línea de investigación: el control de fuerza y su contribución a resolver problemas relacionados con la estabilidad y el control de la interacción con el entorno, en el campo de los robots caminantes. Entre los diversos tipos de robots caminantes posibles, se ha afrontado el problema del control de fuerza en dos casos de especial interés: robots humanoides y robots cuadrúpedos, que presentan problemáticas diferenciadas, y también algunos elementos comunes. En la tesis se investigan y proponen nuevas estrategias de control de fuerza para estos tipos de robots caminantes, lo que involucra el diseño de sensores de fuerza específicos. Los algoritmos de control propuestos aportan nuevas soluciones al problema del control de fuerza de las máquinas caminantes, que son de especial interés cuando éstas se desplazan por terreno irregular o están sometidas a perturbaciones. Se han seleccionado un robot humanoide que emplea accionamientos lineales y no lineales, y un robot cuadrúpedo de grandes dimensiones, como candidatos para realizar la parte de implementación de algoritmos y de evaluación experimental. Sobre las dos plataformas seleccionadas, se han llevado a cabo numerosos experimentos con la finalidad de verificar el grado de consecución de los objetivos propuestos, con resultados muy satisfactorios

Análisis cinemático del brazo robótico de Stanford

En este objeto de aprendizaje se presenta un análisis detallado para la obtención de la cinemática directa del brazo robótico de Stanford utilizando los parámetros de Denavit-Hartenberg. Se presenta la utilización de la herramienta Rotbotics Toolbox de Peter Corke para comprobar los parámetros de D-H y para hacer las simulaciones básicas requeridas.En este objeto de aprendizaje se presenta un análisis detallado para la obtención de la cinemática directa del brazo robótico de Stanford utilizando los parámetros de Denavit-Hartenberg. Se presenta la utilización de la herramienta Rotbotics Toolbox de Peter Corke para comprobar los parámetros de D-H y para hacer las simulaciones básicas requeridas

A perception system for accurate automatic control of an articulated bus

This paper describes the perception system for an automatic articulated bus where an accurate tracking trajectory is desired. Among the most promising transport infrastructures of the autonomous or semi-autonomous transportation systems, the articulated bus is an interesting low cost and friendly option. This platform involves a mobile vehicle and a private circuit inside CSIC premises. The perception system, presented in this work, based on 2D laser scanner as a prime sensor generates local terrain maps, where the major concern lies in detecting and tracking a tunnel guide rail built-in the circuit, by using a hybrid-efficient line extraction algorithm and the obstacle detection to guide the vehicle down the lane.The authors acknowledge partial funding of this research under: Robocity2030-II S2009/DPI-1559 and IMADE PIE/62/2008 (Comunidad de Madrid, ALDESA CONSTRUCCIONES SA, MAXIMASDE); FORTUNA D/026706/09 (Agencia Española de Cooperación Internacional para el Desarrollo, AECID). Dr. Héctor Montes acknowledges support form Universidad Tecnológica de Panamá and from CSIC under grant JAE-Doc.Peer reviewe

A perception system for accurate automatic control of an articulated bus

This paper describes the perception system for an automatic articulated bus where an accurate tracking trajectory is desired. Among the most promising transport infrastructures of the autonomous or semi-autonomous transportation systems, the articulated bus is an interesting low cost and friendly option. This platform involves a mobile vehicle and a private circuit inside CSIC premises. The perception system, presented in this work, based on 2D laser scanner as a prime sensor generates local terrain maps, where the major concern lies in detecting and tracking a tunnel guide rail built-in the circuit, by using a hybrid-efficient line extraction algorithm and the obstacle detection to guide the vehicle down the lane.The authors acknowledge partial funding of this research under: Robocity2030-II S2009/DPI-1559 and IMADE PIE/62/2008 (Comunidad de Madrid, ALDESA CONSTRUCCIONES SA, MAXIMASDE); FORTUNA D/026706/09 (Agencia Española de Cooperación Internacional para el Desarrollo, AECID). Dr. Héctor Montes acknowledges support form Universidad Tecnológica de Panamá and from CSIC under grant JAE-Doc.Peer reviewe

High order analysis of nonlinear periodic differential equations

In this letter we apply a method recently devised in \cite{aapla03} to find precise approximate solutions to a certain class of nonlinear differential equations. The analysis carried out in \cite{aapla03} is refined and results of much higher precision are obtained for the problems previously considered (Duffing equation, sextic oscillator). Fast convergence to the exact results is observed both for the frequency and for the Fourier coefficients. The method is also applied with success to more general polynomial potentials (the octic oscillator) and to the Van Der Pol equation.Comment: 14 pages, 13 figure

Vertical Movement of Resonance Hopping Robot with Electric Drive and Simple Control System

In the paper vertical movements of resonance hopping robot with one leg and electric drive are considered. Special construction of hopping robot with compensation of losses during flight of the robot allows to employ a relatively simple control system as well as to get a stable regime of its operation. The designed robot has self-properties to maintain a specified height of jumping even with simple control system. Results of dynamical calculations, simulations and experimental testing are presented.In the paper vertical movements of resonance hopping robot with one leg and electric drive are considered. Special construction of hopping robot with compensation of losses during flight of the robot allows to employ a relatively simple control system as well as to get a stable regime of its operation. The designed robot has self-properties to maintain a specified height of jumping even with simple control system. Results of dynamical calculations, simulations and experimental testing are presented

Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots

An approach for achieving reliable, built-in, high-accuracy force sensing for legged robots is presented, based on direct exploitation of the properties of a robot’s mechanical structure. The proposed methodology relies on taking account of force-sensing requirements at the robot design stage, with a view to embedding force-sensing capability within the mechanical structure of the robot itself. The test case is ROBOCLIMBER, a bulky, quadruped climbing and walking machine whose weighty legs enable it to carry out heavy-duty drilling operations. The paper shows that, with finite-element analysis of ROBOCLIMBER’s mechanical configuration during the design stage, candidate positions can be selected for the placement of force transducers to measure indirectly the contact forces between the feet and the ground. Force sensors are then installed at the theoretically best positions on the mechanical structure, and several experiments are carried out to calibrate all sensors within their operational range of interest. After calibration, the built-in sensors are subjected to experimental performance evaluation, and the final best sensor option is found. The built-in force-sensing capability thus implemented is subjected to its first test of usability when it is employed to compute the actual centre of gravity of ROBOCLIMBER. The method is shown to be useful for determining variation during a gait (due to the non-negligible weight of the legs). Afterwards the force sensors are shown to be useful for controlling foot-ground interaction, and several illustrative experiments confirm the high sensitivity, reliability and accuracy of the selected approach. Lastly, the built-in sensors are used to measure ground-reaction forces and to compute the zero-moment point for ROBOCLIMBER in real time, both while standing and while executing a dynamically balanced gait.An approach for achieving reliable, built-in, high-accuracy force sensing for legged robots is presented, based on direct exploitation of the properties of a robot’s mechanical structure. The proposed methodology relies on taking account of force-sensing requirements at the robot design stage, with a view to embedding force-sensing capability within the mechanical structure of the robot itself. The test case is ROBOCLIMBER, a bulky, quadruped climbing and walking machine whose weighty legs enable it to carry out heavy-duty drilling operations. The paper shows that, with finite-element analysis of ROBOCLIMBER’s mechanical configuration during the design stage, candidate positions can be selected for the placement of force transducers to measure indirectly the contact forces between the feet and the ground. Force sensors are then installed at the theoretically best positions on the mechanical structure, and several experiments are carried out to calibrate all sensors within their operational range of interest. After calibration, the built-in sensors are subjected to experimental performance evaluation, and the final best sensor option is found. The built-in force-sensing capability thus implemented is subjected to its first test of usability when it is employed to compute the actual centre of gravity of ROBOCLIMBER. The method is shown to be useful for determining variation during a gait (due to the non-negligible weight of the legs). Afterwards the force sensors are shown to be useful for controlling foot-ground interaction, and several illustrative experiments confirm the high sensitivity, reliability and accuracy of the selected approach. Lastly, the built-in sensors are used to measure ground-reaction forces and to compute the zero-moment point for ROBOCLIMBER in real time, both while standing and while executing a dynamically balanced gait

TIRAMISU European Project: Design and Implementation of Tools for Humanitarian Demining

This paper presents the most relevant results of the work done within the framework of TIRAMISU European project (Toolbox Implementation for Removal of Anti-personnel Mines, Submunitions and UXO), by the Centre for Automation and Robotics CAR (CSIC-UPM). This project has been funded by European Union within the Seventh Framework Programme of R&D. In general, the works carried out during this project, currently in effect, have been the design and development of tools for training in search of landmines and other for locating anti-personnel landmines, such as: design and validation of e-tutors for land impact and non-Technical Survey tools, and landmines identification for training of trainee, who will collaborate in humanitarian demining tasks; design and implementation of a training tool to be used with compact metal detectors; design, implementation and evaluation of an intelligent prodder training tool for close-in detection of buried landmines; development of a semi-autonomous and teleoperated system for search and detection of anti-personnel mines, which consists of a hexapod robot and a scanning manipulator arm, that carries a metal detector at its end-effector.This project has been funded by European Union within the Seventh Framework Programme of R&D.Peer reviewe

Entretenimiento para mujeres

Curso de Especial InterésEs un sitio que tiene como principio cambiar la cultura y crear alternativas que tienen como fin el entretener y recrear a la mujer colombiana, partiendo del derecho a la igualdad, sexualidad y el respeto, donde la inclusión es sinónimo de aceptación y seguridad, generando conciencia en la sociedad y fortaleciendo el desarrollo cognoscitivo y emocional, mejorando su autoestima, afectividad y autonomía.78 p.RESUMEN JUSTIFICACIÓN MARCO TEÓRICO 1. ASPECTOS HISTÓRICOS DE LA SEXUALIDAD Y LA MUJER 2. COMPONENTES DE LA SEXUALIDAD ENFOCADOS A LA MUJER 3. OBJETIVOS 4. OBJETIVO GENERAL 5. OBJETIVOS ESPECÍFICOS 6. METODOLOGÍA 7. TIPO DE INVESTIGACIÓN 8. DISEÑO 9. PARTICIPANTES 10. INSTRUMENTOS Y MATERIALES 11. PROCEDIMIENTO 12. ANÁLISIS DE LA INFORMACIÓN 13. ASPECTOS ÉTICOS 14. ESTUDIO DE MERCADEO 15. OBJETIVO GENERAL DEL ESTUDIO DE MERCADEO 16. OBJETIVOS ESPECÍFICOS DEL ESTUDIO DE MERCADEO 17. PRESENTACIÓN DEL PRODUCTO 18. LOGO-SÍMBOLO Y SLOGAN DEL PRODUCTO 19. PRODUCTO BÁSICO 20. PRODUCTO REAL 21. PRODUCTO AMPLIADO 22. SEGMENTO DE MERCADO 23. DEMOGRÁFICO 24. ECONÓMICO 25. ANÁLISIS DE LA DEMANDA ACTUAL 26. COMPETENCIA 27. COMPETENCIA DIRECTA Y SUCEDÁNEA 28. PRODUCTOS DE LA COMPETENCIA 29. ANÁLISIS DOFA 30. ESTRATEGIAS 31. CANALES DE DISTRIBUCIÓN 32. RESULTADOS 33. ANÁLISIS DE RESULTADOS 34. GRUPO FOCAL 35. DISCUSIÓN CONCLUSIONES SUGERENCIAS REFERENCIAS APÉNDICESPregradoPsicólog

VIS-NIR, SWIR and LWIR Imagery for Estimation of Ground Bearing Capacity

Ground bearing capacity has become a relevant concept for site-specific management that aims to protect soil from the compaction and the rutting produced by the indiscriminate use of agricultural and forestry machines. Nevertheless, commonly known techniques for its estimation are cumbersome and time-consuming. In order to alleviate these difficulties, this paper introduces an innovative sensory system based on Visible-Near InfraRed (VIS-NIR), Short-Wave InfraRed (SWIR) and Long-Wave InfraRed (LWIR) imagery and a sequential algorithm that combines a registration procedure, a multi-class SVM classifier, a K-means clustering and a linear regression for estimating the ground bearing capacity. To evaluate the feasibility and capabilities of the presented approach, several experimental tests were carried out in a sandy-loam terrain. The proposed solution offers notable benefits such as its non-invasiveness to the soil, its spatial coverage without the need for exhaustive manual measurements and its real time operation. Therefore, it can be very useful in decision making processes that tend to reduce ground damage during agricultural and forestry operations.The authors acknowledge funding from the European commission in the 7th Framework Programme (CROPS Grant Agreement No. 246252) and partial funding under ROBOCITY2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748), funded by Programa de Actividades I + D en la Comunidad de Madrid and cofunded by Structural Funds of the EU. Héctor Montes also acknowledges support from Universidad Tecnológica de Panamá.We acknowledge support of the publication fee by the CSIC Open Access Publication Support Initiative through its Unit of Information Resources for Research (URICI).CHF 1,620 APC fee funded by the EC FP7 Post-Grant Open Access PilotPeer reviewe