Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689410
S. Orozco-Soto, P. Vera-Bustamante, J. M. Ibarra-Zannatha
This paper presents the combination of a robust controller with robust visual feedback for autonomous flight of a quadrotor. The proposed control strategy estimates the disturbances and rejects them in real time using visual information from the on-board camera and a robust observer to detect disturbances. The navigation, vision and control algorithms are executed in parallel threads using Robotics Operating System in order to enhance the control system performance. The proposed visual control technique was tested by giving a target pose to the quadrotor, which was successfully reached with acceptable performance even in presence of wind disturbances that are intrinsic of outdoors environments. The satisfactory results showed that the proposed combination of robust control and visual feedback techniques provide a suitable performance for autonomous navigation of quadrotors.
{"title":"ORB-SLAM Based Active Disturbance Rejection Control for Quadrotor Autonomous Flight","authors":"S. Orozco-Soto, P. Vera-Bustamante, J. M. Ibarra-Zannatha","doi":"10.1109/COMROB.2018.8689410","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689410","url":null,"abstract":"This paper presents the combination of a robust controller with robust visual feedback for autonomous flight of a quadrotor. The proposed control strategy estimates the disturbances and rejects them in real time using visual information from the on-board camera and a robust observer to detect disturbances. The navigation, vision and control algorithms are executed in parallel threads using Robotics Operating System in order to enhance the control system performance. The proposed visual control technique was tested by giving a target pose to the quadrotor, which was successfully reached with acceptable performance even in presence of wind disturbances that are intrinsic of outdoors environments. The satisfactory results showed that the proposed combination of robust control and visual feedback techniques provide a suitable performance for autonomous navigation of quadrotors.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115230071","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689121
Christian Alberto Matilde Domínguez, E. M. Sanchez, Gerardo Israel Pérez Soto
This work presents the use of the Linear Inverted Pendulum Mode (LIPM) concept and the Inverse Geometrical Model (IGM) of a biped robot for generating a gait cycle with some particular characteristics. This work is different from the original procedure described in the literature, since here, the orbital energy is considered as being constant during the locomotion. LIPM is employed for obtaining the motion of the Center of Mass (CoM) with respect to the feet while a cycloidal trajectory is used for synthesizing the motion of the free foot during simple support phase. Joint motions are obtained by IGM.
{"title":"Gait synthesis for a 12-degree-of-freedom biped robot by the LIPM","authors":"Christian Alberto Matilde Domínguez, E. M. Sanchez, Gerardo Israel Pérez Soto","doi":"10.1109/COMROB.2018.8689121","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689121","url":null,"abstract":"This work presents the use of the Linear Inverted Pendulum Mode (LIPM) concept and the Inverse Geometrical Model (IGM) of a biped robot for generating a gait cycle with some particular characteristics. This work is different from the original procedure described in the literature, since here, the orbital energy is considered as being constant during the locomotion. LIPM is employed for obtaining the motion of the Center of Mass (CoM) with respect to the feet while a cycloidal trajectory is used for synthesizing the motion of the free foot during simple support phase. Joint motions are obtained by IGM.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127415733","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689408
A. Loza-Álvarez, A. E. Monroy-Meza, R. Suarez-Rivera, G. Perez-Soto, Luis A. Morales-Hernandez, K. A. Camarillo-Gómez
In this paper, the development of a Convolutional Neuronal Network (CNN) of three layers for the recognition of six different facial expressions and its implementation in an assistant humanoid robot is presented. A database is generated with different facial expressions, supervised training is used and accuracy of the Convolutional Neuronal Network employed is determined. The Convolutional Neural Network implementation in the robot was possible with a Raspberry Pi 3 model B which also aides in the execution of different movements depending on the facial expression that is recognized.
{"title":"Facial expressions recognition with CNN and its application in an assistant humanoid robot","authors":"A. Loza-Álvarez, A. E. Monroy-Meza, R. Suarez-Rivera, G. Perez-Soto, Luis A. Morales-Hernandez, K. A. Camarillo-Gómez","doi":"10.1109/COMROB.2018.8689408","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689408","url":null,"abstract":"In this paper, the development of a Convolutional Neuronal Network (CNN) of three layers for the recognition of six different facial expressions and its implementation in an assistant humanoid robot is presented. A database is generated with different facial expressions, supervised training is used and accuracy of the Convolutional Neuronal Network employed is determined. The Convolutional Neural Network implementation in the robot was possible with a Raspberry Pi 3 model B which also aides in the execution of different movements depending on the facial expression that is recognized.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"154 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117275420","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.1109/comrob.2018.8689119
{"title":"[Title page]","authors":"","doi":"10.1109/comrob.2018.8689119","DOIUrl":"https://doi.org/10.1109/comrob.2018.8689119","url":null,"abstract":"","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"253 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116234949","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689124
Luis Luna, R. Garrido
Improving the velocity control of servodrives is an important topic in industrial applications, especially in the presence of internal and external disturbances. To address this problem, in this work the feedback loop of a perturbed servodrive is augmented with a Disturbance Observer (DOB). The DOB uses the control signal, velocity measurements and a nominal model of the plant to estimate the disturbance. The disturbance estimate is then used to compensate for the effects of the real disturbance. Then an equivalence between the P+dob and a set point weighted Proportional-Integral controller is established. Experiments with a laboratory prototype show the effectiveness of the proposed scheme.
{"title":"On the equivalence between P+DOB and set point weighted PI controllers for velocity control of servodrives under load disturbances","authors":"Luis Luna, R. Garrido","doi":"10.1109/COMROB.2018.8689124","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689124","url":null,"abstract":"Improving the velocity control of servodrives is an important topic in industrial applications, especially in the presence of internal and external disturbances. To address this problem, in this work the feedback loop of a perturbed servodrive is augmented with a Disturbance Observer (DOB). The DOB uses the control signal, velocity measurements and a nominal model of the plant to estimate the disturbance. The disturbance estimate is then used to compensate for the effects of the real disturbance. Then an equivalence between the P+dob and a set point weighted Proportional-Integral controller is established. Experiments with a laboratory prototype show the effectiveness of the proposed scheme.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"366 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127585772","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689423
Ulises Zaldivar-Colado, Juan Augusto Campos-Leal, S. Garbaya, X. Zaldivar-Colado, P. Blazevic
This work presents a design proposal for the development of a system for human hand motion caption system, aiming to create a data glove. This prototype will be composed of a set of inertial sensors placed in the user's hand. The sensors are used for transmitting the movements of the proximal, medial phalanges of each finger in the hand. For this prototype, the flexion of the distal phalanx is not relevant, because this phalanx cannot be normally controlled by the humans. The flexion of the distal element is calculated with relation to the medial phalanx flexion. The motion captured by the sensors are transmitted through an Arduino™ board to a computer, where it is possible to render a virtual hand applying the transformations captured from the sensors. The virtual hand can mimic the configuration of the real hand, including movements of abduction, adduction, flexion and extension of the fingers. Some experimental design is carried out in order to perform a motion capture validation of the system, obtaining the precision and the resolution of the system.
{"title":"Design of a high precision Data glove based on inertial sensors","authors":"Ulises Zaldivar-Colado, Juan Augusto Campos-Leal, S. Garbaya, X. Zaldivar-Colado, P. Blazevic","doi":"10.1109/COMROB.2018.8689423","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689423","url":null,"abstract":"This work presents a design proposal for the development of a system for human hand motion caption system, aiming to create a data glove. This prototype will be composed of a set of inertial sensors placed in the user's hand. The sensors are used for transmitting the movements of the proximal, medial phalanges of each finger in the hand. For this prototype, the flexion of the distal phalanx is not relevant, because this phalanx cannot be normally controlled by the humans. The flexion of the distal element is calculated with relation to the medial phalanx flexion. The motion captured by the sensors are transmitted through an Arduino™ board to a computer, where it is possible to render a virtual hand applying the transformations captured from the sensors. The virtual hand can mimic the configuration of the real hand, including movements of abduction, adduction, flexion and extension of the fingers. Some experimental design is carried out in order to perform a motion capture validation of the system, obtaining the precision and the resolution of the system.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122027931","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689414
Luis Ovalle, H. Ríos, M. Llama
This paper presents an output-feedback controller for a cart-pole system via sliding-mode algorithms. Due to the fact that this system is underactuated, a coupled sliding surface is employed instead of using a transformation to the regular form. Then, a continuous sliding-mode controller is designed using the super-twisting algorithm so that robustness of the control scheme is guaranteed. Since the proposed controller requires the knowledge of the velocities, a high order sliding-mode observer is introduced to estimate such velocities. All the results are validated by means of simulations, providing also a comparison between the proposed controller, a first-order sliding-mode controller and a chattering attenuation approach.
{"title":"A Robust Output-Feedback Control for the Cart-Pole System: A Super-Twisting Sliding-Mode approach","authors":"Luis Ovalle, H. Ríos, M. Llama","doi":"10.1109/COMROB.2018.8689414","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689414","url":null,"abstract":"This paper presents an output-feedback controller for a cart-pole system via sliding-mode algorithms. Due to the fact that this system is underactuated, a coupled sliding surface is employed instead of using a transformation to the regular form. Then, a continuous sliding-mode controller is designed using the super-twisting algorithm so that robustness of the control scheme is guaranteed. Since the proposed controller requires the knowledge of the velocities, a high order sliding-mode observer is introduced to estimate such velocities. All the results are validated by means of simulations, providing also a comparison between the proposed controller, a first-order sliding-mode controller and a chattering attenuation approach.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114206850","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689425
J. Maldonado, Kevin Lopez, R. Garrido, S. Mondié
This work presents the implementation of advanced time-delay controllers in a low-cost educational motion control platform based on a radio control (RC) servo. The highlights of the platform are presented as well as real-time experiments using the Proportional Integrated Retarded (PIR) and the Cascade Proportional Integrated Retarded (CPIR) algorithms. The experiments allow assessing the capabilities of the platform for implementing advanced controllers, and highlights the inherent filtering capabilities of time-delay controllers when they are fed by noisy measurements.
{"title":"Implementing Time-delay Controllers on an Educational Motion Control Platform","authors":"J. Maldonado, Kevin Lopez, R. Garrido, S. Mondié","doi":"10.1109/COMROB.2018.8689425","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689425","url":null,"abstract":"This work presents the implementation of advanced time-delay controllers in a low-cost educational motion control platform based on a radio control (RC) servo. The highlights of the platform are presented as well as real-time experiments using the Proportional Integrated Retarded (PIR) and the Cascade Proportional Integrated Retarded (CPIR) algorithms. The experiments allow assessing the capabilities of the platform for implementing advanced controllers, and highlights the inherent filtering capabilities of time-delay controllers when they are fed by noisy measurements.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121437904","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689416
M. Tapia-Ruíz, Carlos A. Yerena-Vera, Abraham A. Guzmán-Cárdenas, C. G. Manriquez-Padilla, A. D. Gonzalez-Abreu, G. Perez-Soto, K. A. Camarillo-Gómez
This paper presents a proposal of a vision and communication system focused in a five mobile robots, where the final purpose of the vision system is to provide position and orientation data respect to a reference point (a ball), then through the communication system, the decisions for each robot will be send them with the purpose that they work in a collective way. The proposal system has been implemented in a set of five mobile robot and tested in the MiroSot competition sponsored by FIRA (Federation of International Robot-soccer Association).
{"title":"Vision and Communication Systems for a Mobile Robots Team","authors":"M. Tapia-Ruíz, Carlos A. Yerena-Vera, Abraham A. Guzmán-Cárdenas, C. G. Manriquez-Padilla, A. D. Gonzalez-Abreu, G. Perez-Soto, K. A. Camarillo-Gómez","doi":"10.1109/COMROB.2018.8689416","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689416","url":null,"abstract":"This paper presents a proposal of a vision and communication system focused in a five mobile robots, where the final purpose of the vision system is to provide position and orientation data respect to a reference point (a ball), then through the communication system, the decisions for each robot will be send them with the purpose that they work in a collective way. The proposal system has been implemented in a set of five mobile robot and tested in the MiroSot competition sponsored by FIRA (Federation of International Robot-soccer Association).","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133791278","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689405
J. González-Sierra, E. Aranda-Bricaire, Ó. González-Medina
This paper proposes a heterogeneous multi-agent robot system, composed of differential-drive robots and omnidirectional mobile robots to emulate the parking task from a kinematic point of view. For this aim, a control strategy, based on the feedback linearization techniques, is proposed, obtaining asymptotic convergence to the desired trajectory. Numerical simulations illustrate a comparison between the behavior of the heterogeneous system and a standard n-trailer system while performing the parking task.
{"title":"Parking Task for an Emulated Trailer through a Heterogeneous Multi-Agent Robot System","authors":"J. González-Sierra, E. Aranda-Bricaire, Ó. González-Medina","doi":"10.1109/COMROB.2018.8689405","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689405","url":null,"abstract":"This paper proposes a heterogeneous multi-agent robot system, composed of differential-drive robots and omnidirectional mobile robots to emulate the parking task from a kinematic point of view. For this aim, a control strategy, based on the feedback linearization techniques, is proposed, obtaining asymptotic convergence to the desired trajectory. Numerical simulations illustrate a comparison between the behavior of the heterogeneous system and a standard n-trailer system while performing the parking task.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116910147","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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