Actas de las XXXVII Jornadas de Automática 7, 8 y 9 de septiembre de 2016, Madrid, 2022
La inspección robotizada de tuberías de pequeño diámetro es un tema de gran complejidad debido a ... more La inspección robotizada de tuberías de pequeño diámetro es un tema de gran complejidad debido a las restricciones del espacio en el que se deben desarrollar las tareas. Aunque se han desarrollado diversos sistemas robóticos para inspeccionar tuberías, prácticamente no existen robots adecuados para tuberías de reducido diámetro que, por otra parte, son muy abundantes. En esta comunicación se presenta el desarrollo de un módulo de micro-robot destinado a la inspección de tuberías de desagüe domésticas, que en su gran mayoría cuentan con un diámetro de 34 mm, si bien, se ha realizado una configuración con patas que pueden abrirse y cerrarse, de forma que puedan adaptarse a un rango de diámetros entre 32,5 y 55 mm. En concreto se introducirá y desarrollará la arquitectura de un módulo tractor con un novedoso sistema de locomoción, pensado y diseñado para formar parte de una cadena robótica modular heterogénea.
This paper presents a new architecture that integrates Internet of Things (IoT) devices, service ... more This paper presents a new architecture that integrates Internet of Things (IoT) devices, service robots, and users in a smart assistive environment. A new intuitive and multimodal interaction system supporting people with disabilities and bedbound patients is presented. This interaction system allows the user to control service robots and devices inside the room in five different ways: touch control, eye control, gesture control, voice control, and augmented reality control. The interaction system is comprised of an assistive robotic arm holding a tablet PC. The robotic arm can place the tablet PC in front of the user. A demonstration of the developed technology, a prototype of a smart room equipped with home automation devices, and the robotic assistive arm are presented. The results obtained from the use of the various interfaces and technologies are presented in the article. The results include user preference with regard to eye-base control (performing clicks, and using winks or...
Mobile robotic platforms have made inroads in the rehabilitation area as gait assistance devices.... more Mobile robotic platforms have made inroads in the rehabilitation area as gait assistance devices. They have rarely been used for human gait monitoring and analysis. The integration of mobile robots in this field offers the potential to develop multiple medical applications and achieve new discoveries. This study proposes the use of a mobile robotic platform based on depth cameras to perform the analysis of human gait in practical scenarios. The aim is to prove the validity of this robot and its applicability in clinical settings. The mechanical and software design of the system is presented, as well as the design of the controllers of the lane-keeping, person-following, and servoing systems. The accuracy of the system for the evaluation of joint kinematics and the main gait descriptors was validated by comparison with a Vicon-certified system. Some tests were performed in practical scenarios, where the effectiveness of the lane-keeping algorithm was evaluated. Clinical tests with pa...
Adhesion systems are very important in robots for infrastructure inspection (especially in vertic... more Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper a CFD (Computer Fluid Dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the best performing configuration in terms of vacuum and power consumption. Analytical and numerical models were developed to predict the behaviour of the system for different configurations. The models were validated, using test rig measurements, by calibrating an arbitrary defined inlet height that simulates the leakage flow. Then, different geometric parameters were varied to determine the best performing configuration based on the vacuum/power consumption ratio value. The model presented in the paper was capable of predicting the behaviour of the system for different configurations, with a margin of error of 15% for the vacuum prediction ...
In order to create effective storytelling agents three fundamental questions must be answered: fi... more In order to create effective storytelling agents three fundamental questions must be answered: first, is a physically embodied agent preferable to a virtual agent or a voice-only narration? Second, does a human voice have an advantage over a synthesized voice? Third, how should the emotional trajectory of the different characters in a story be related to a storyteller’s facial expressions during storytelling time, and how does this correlate with the apparent emotions on the faces of the listeners? The results of two specially designed studies indicate that the physically embodied robot produces more narrative attention to the listener as compared to a virtual embodiment, that a human voice is preferable over the current state of the art of text-to-speech, and that there is a complex yet interesting relation between the emotion lines of the story, the facial expressions of the narrating agent, and the emotions of the listener, and that the empathizing of the listener is evident thro...
Purpose – This paper aims to propose a new technique for programming robotized machining tasks ba... more Purpose – This paper aims to propose a new technique for programming robotized machining tasks based on intuitive human–machine interaction. This will enable operators to create robot programs for small-batch production in a fast and easy way, reducing the required time to accomplish the programming tasks. Design/methodology/approach – This technique makes use of online walk-through path guidance using an external force/torque sensor, and simple and intuitive visual programming, by a demonstration method and symbolic task-level programming. Findings – Thanks to this technique, the operator can easily program robots without learning every robot-specific language and can design new tasks for industrial robots based on manual guidance. Originality/value – The main contribution of the paper is a new procedure to program machining tasks based on manual guidance (walk-through teaching method) and user-friendly visual programming. Up to now, the acquisition of paths and the task programmin...
Actas de las XXXVII Jornadas de Automática 7, 8 y 9 de septiembre de 2016, Madrid, 2022
La inspección robotizada de tuberías de pequeño diámetro es un tema de gran complejidad debido a ... more La inspección robotizada de tuberías de pequeño diámetro es un tema de gran complejidad debido a las restricciones del espacio en el que se deben desarrollar las tareas. Aunque se han desarrollado diversos sistemas robóticos para inspeccionar tuberías, prácticamente no existen robots adecuados para tuberías de reducido diámetro que, por otra parte, son muy abundantes. En esta comunicación se presenta el desarrollo de un módulo de micro-robot destinado a la inspección de tuberías de desagüe domésticas, que en su gran mayoría cuentan con un diámetro de 34 mm, si bien, se ha realizado una configuración con patas que pueden abrirse y cerrarse, de forma que puedan adaptarse a un rango de diámetros entre 32,5 y 55 mm. En concreto se introducirá y desarrollará la arquitectura de un módulo tractor con un novedoso sistema de locomoción, pensado y diseñado para formar parte de una cadena robótica modular heterogénea.
This paper presents a new architecture that integrates Internet of Things (IoT) devices, service ... more This paper presents a new architecture that integrates Internet of Things (IoT) devices, service robots, and users in a smart assistive environment. A new intuitive and multimodal interaction system supporting people with disabilities and bedbound patients is presented. This interaction system allows the user to control service robots and devices inside the room in five different ways: touch control, eye control, gesture control, voice control, and augmented reality control. The interaction system is comprised of an assistive robotic arm holding a tablet PC. The robotic arm can place the tablet PC in front of the user. A demonstration of the developed technology, a prototype of a smart room equipped with home automation devices, and the robotic assistive arm are presented. The results obtained from the use of the various interfaces and technologies are presented in the article. The results include user preference with regard to eye-base control (performing clicks, and using winks or...
Mobile robotic platforms have made inroads in the rehabilitation area as gait assistance devices.... more Mobile robotic platforms have made inroads in the rehabilitation area as gait assistance devices. They have rarely been used for human gait monitoring and analysis. The integration of mobile robots in this field offers the potential to develop multiple medical applications and achieve new discoveries. This study proposes the use of a mobile robotic platform based on depth cameras to perform the analysis of human gait in practical scenarios. The aim is to prove the validity of this robot and its applicability in clinical settings. The mechanical and software design of the system is presented, as well as the design of the controllers of the lane-keeping, person-following, and servoing systems. The accuracy of the system for the evaluation of joint kinematics and the main gait descriptors was validated by comparison with a Vicon-certified system. Some tests were performed in practical scenarios, where the effectiveness of the lane-keeping algorithm was evaluated. Clinical tests with pa...
Adhesion systems are very important in robots for infrastructure inspection (especially in vertic... more Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper a CFD (Computer Fluid Dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the best performing configuration in terms of vacuum and power consumption. Analytical and numerical models were developed to predict the behaviour of the system for different configurations. The models were validated, using test rig measurements, by calibrating an arbitrary defined inlet height that simulates the leakage flow. Then, different geometric parameters were varied to determine the best performing configuration based on the vacuum/power consumption ratio value. The model presented in the paper was capable of predicting the behaviour of the system for different configurations, with a margin of error of 15% for the vacuum prediction ...
In order to create effective storytelling agents three fundamental questions must be answered: fi... more In order to create effective storytelling agents three fundamental questions must be answered: first, is a physically embodied agent preferable to a virtual agent or a voice-only narration? Second, does a human voice have an advantage over a synthesized voice? Third, how should the emotional trajectory of the different characters in a story be related to a storyteller’s facial expressions during storytelling time, and how does this correlate with the apparent emotions on the faces of the listeners? The results of two specially designed studies indicate that the physically embodied robot produces more narrative attention to the listener as compared to a virtual embodiment, that a human voice is preferable over the current state of the art of text-to-speech, and that there is a complex yet interesting relation between the emotion lines of the story, the facial expressions of the narrating agent, and the emotions of the listener, and that the empathizing of the listener is evident thro...
Purpose – This paper aims to propose a new technique for programming robotized machining tasks ba... more Purpose – This paper aims to propose a new technique for programming robotized machining tasks based on intuitive human–machine interaction. This will enable operators to create robot programs for small-batch production in a fast and easy way, reducing the required time to accomplish the programming tasks. Design/methodology/approach – This technique makes use of online walk-through path guidance using an external force/torque sensor, and simple and intuitive visual programming, by a demonstration method and symbolic task-level programming. Findings – Thanks to this technique, the operator can easily program robots without learning every robot-specific language and can design new tasks for industrial robots based on manual guidance. Originality/value – The main contribution of the paper is a new procedure to program machining tasks based on manual guidance (walk-through teaching method) and user-friendly visual programming. Up to now, the acquisition of paths and the task programmin...
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