Pub Date : 2018-09-01DOI: 10.1109/COMROB.2018.8689418
Ángel Sánchez-Díaz, J. A. Pámanes, Ulises Zaldivar-Colado, X. Zaldivar-Colado
Off-line programming (OLP) is an alternative to specifying of the desired motions of industrial robots. A typical software system for OLP apply 3D simulation of a robot in a virtual environment. Thus, this virtual robot is used instead of the real one during the programming process of tasks. In this paper, the Geomagic® Touch™ haptic interface is applied in an OLP system for teaching of a welding job. To specify the desired path to the robot in the proposed system, the user moves the virtual torch by actuating the haptic device. Then the generated data of the virtual task are processed to obtain the complete required motion of the robot. By simulating the robot's action in the system, the user could analyze the performance of the robot. A study case is presented that shows the efficacy of the proposed system.
{"title":"Specifying Welding Tasks in an Off-Line Programming System of a Robot by Using a Haptic Interface","authors":"Ángel Sánchez-Díaz, J. A. Pámanes, Ulises Zaldivar-Colado, X. Zaldivar-Colado","doi":"10.1109/COMROB.2018.8689418","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689418","url":null,"abstract":"Off-line programming (OLP) is an alternative to specifying of the desired motions of industrial robots. A typical software system for OLP apply 3D simulation of a robot in a virtual environment. Thus, this virtual robot is used instead of the real one during the programming process of tasks. In this paper, the Geomagic® Touch™ haptic interface is applied in an OLP system for teaching of a welding job. To specify the desired path to the robot in the proposed system, the user moves the virtual torch by actuating the haptic device. Then the generated data of the virtual task are processed to obtain the complete required motion of the robot. By simulating the robot's action in the system, the user could analyze the performance of the robot. A study case is presented that shows the efficacy of the proposed system.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"9 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":"115662883","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.2018.8689120
Alvarez-Cedillo. A. Jesus, Pérez-Romero Patricia, Alvarez-Sanchez. Teodoro
Mexico is located in one of the seismically active regions of the world, located inside the known as the Belt Circum where most seismic activities concentrated area. In the last five years, there have been significant magnitude earthquakes affecting states like Oaxaca, Puebla, Morelos, Guerrero, Michoacán and Mexico City. The number of people who died trapped inside the rubble was very high and in the coming years will continue to have constant seismic activity. The need to develop a robot to detect people caught not a prototype but as a professional tool rescue is a priority. In this paper propose the development of a robot rescuer with various sensors designed to detect temperature, breathing detect people in the rubble. The proposed robot will move through the debris to detect human.
{"title":"Mexican Robot Rescue for Earthquake","authors":"Alvarez-Cedillo. A. Jesus, Pérez-Romero Patricia, Alvarez-Sanchez. Teodoro","doi":"10.1109/COMROB.2018.8689120","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689120","url":null,"abstract":"Mexico is located in one of the seismically active regions of the world, located inside the known as the Belt Circum where most seismic activities concentrated area. In the last five years, there have been significant magnitude earthquakes affecting states like Oaxaca, Puebla, Morelos, Guerrero, Michoacán and Mexico City. The number of people who died trapped inside the rubble was very high and in the coming years will continue to have constant seismic activity. The need to develop a robot to detect people caught not a prototype but as a professional tool rescue is a priority. In this paper propose the development of a robot rescuer with various sensors designed to detect temperature, breathing detect people in the rubble. The proposed robot will move through the debris to detect human.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"27 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":"134463744","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.2018.8689407
Isaac Gandarilla, V. Santibáñez, J. Sandoval
The self-balancing robot is a mobile robot that can be classified as an underactuated mechanism, systems which challenging characteristics make them interesting from the point of view of control. In this work we present the design of a control law for the stabilization of a self-balancing robot by using a method based on energy shaping that does not requires to solve partial differential equations. We also present a stability analysis that includes the demonstration of local asymptotic stability of the desired equilibrium and experimental results show the performance of the proposed control law.
{"title":"Stabilization of a self-balancing robot by energy shaping","authors":"Isaac Gandarilla, V. Santibáñez, J. Sandoval","doi":"10.1109/COMROB.2018.8689407","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689407","url":null,"abstract":"The self-balancing robot is a mobile robot that can be classified as an underactuated mechanism, systems which challenging characteristics make them interesting from the point of view of control. In this work we present the design of a control law for the stabilization of a self-balancing robot by using a method based on energy shaping that does not requires to solve partial differential equations. We also present a stability analysis that includes the demonstration of local asymptotic stability of the desired equilibrium and experimental results show the performance of the proposed control law.","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":"129881220","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.2018.8689420
Luis F. Herrera Garay, Verónica Ruíz Galván, Mauro Santoyo Mora, José G. Zavala Villalpando
This paper presents the first phase in the development of an assistance and service robot, which consists in the development of a navigation system based on a Kinect for a mobile robot. The results show that it is possible for the robot to displace in a controlled environment, by creating a path with the help of the algorithm A * and letting it avoid the present obstacles to reach its destination point in the traced route.
{"title":"Development of a navigation system with kinect in a controlled environment for a mobile robot","authors":"Luis F. Herrera Garay, Verónica Ruíz Galván, Mauro Santoyo Mora, José G. Zavala Villalpando","doi":"10.1109/COMROB.2018.8689420","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689420","url":null,"abstract":"This paper presents the first phase in the development of an assistance and service robot, which consists in the development of a navigation system based on a Kinect for a mobile robot. The results show that it is possible for the robot to displace in a controlled environment, by creating a path with the help of the algorithm A * and letting it avoid the present obstacles to reach its destination point in the traced route.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"32 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":"121560323","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.2018.8689122
R.D. Merlo-Espino, M. Villareal-Rodgríguez, A. Morita-Aleander, J. Rodríguez-Reséndiz, G. Perez-Soto, K. A. Camarillo-Gómez
In this paper, the results of the first stage of a research project that aims to stimulate the development of critical thinking as a XXI century learning outcome is presented. During the development of thnge project, an intervention in a group of high school students of a public school through educational robotics was carried out by means of a Blended (B-)learning course. Our course is mainly focused on educational robotics since it is a polyvalent, transdisciplinary, dynamic and action oriented technological tool for problem solving of any kind. In fact, educational robotics is a robotics-based interdisciplinary learning system linking several different analytical skills. The methodology of choice was Design Based Research (DBR), which enables the instructor to work on problem-based learning. The instructional design used for this intervention is also presented.
{"title":"Educational Robotics and Its Impact in the Development of Critical Thinking in Higher Education Students","authors":"R.D. Merlo-Espino, M. Villareal-Rodgríguez, A. Morita-Aleander, J. Rodríguez-Reséndiz, G. Perez-Soto, K. A. Camarillo-Gómez","doi":"10.1109/COMROB.2018.8689122","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689122","url":null,"abstract":"In this paper, the results of the first stage of a research project that aims to stimulate the development of critical thinking as a XXI century learning outcome is presented. During the development of thnge project, an intervention in a group of high school students of a public school through educational robotics was carried out by means of a Blended (B-)learning course. Our course is mainly focused on educational robotics since it is a polyvalent, transdisciplinary, dynamic and action oriented technological tool for problem solving of any kind. In fact, educational robotics is a robotics-based interdisciplinary learning system linking several different analytical skills. The methodology of choice was Design Based Research (DBR), which enables the instructor to work on problem-based learning. The instructional design used for this intervention is also presented.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"7 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":"125371193","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.2018.8689417
K. Valladares-Yáñez, A. E. Monroy-Meza, R. Suarez-Rivera, J. Rodríguez-Reséndiz, G. Perez-Soto, K. A. Camarillo-Gómez
The constant need to identify objects, colors and shapes autonomously in the industry as well as in robot competitions, leads to the implementation of a vision system. This article presents the development of a vision system in a humanoid robot, applying an algorithm to analyze the captured image and control the movements of the robot.
{"title":"Development and implementation of a vision system for decision making in the movements control of humanoid robots","authors":"K. Valladares-Yáñez, A. E. Monroy-Meza, R. Suarez-Rivera, J. Rodríguez-Reséndiz, G. Perez-Soto, K. A. Camarillo-Gómez","doi":"10.1109/COMROB.2018.8689417","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689417","url":null,"abstract":"The constant need to identify objects, colors and shapes autonomously in the industry as well as in robot competitions, leads to the implementation of a vision system. This article presents the development of a vision system in a humanoid robot, applying an algorithm to analyze the captured image and control the movements of the robot.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"38 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":"126774744","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.2018.8689412
Leonardo Herrera, Ruben Hernández, F. Jurado
Control and estimation are carried out in this paper for a ballbot underactuated robotic system. Under position measurements, the Extended Kalman Filter (EKF) is used as an asymptotic estimator in order to estimate the unavailable state vector of the robotic system. Then, the estimated state vector is used by a Linear Quadratic Regulator (LQR) that steers the ballbot to its upright position. It is demonstrated that the closed loop system that includes the ballbot, the LQR, and the EKF remains locally asymptotically stable. Numerical results corroborate the viability of the proposed control and estimation scheme.
{"title":"Control and Extended Kalman Filter based Estimation for a Ballbot Robotic System","authors":"Leonardo Herrera, Ruben Hernández, F. Jurado","doi":"10.1109/COMROB.2018.8689412","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689412","url":null,"abstract":"Control and estimation are carried out in this paper for a ballbot underactuated robotic system. Under position measurements, the Extended Kalman Filter (EKF) is used as an asymptotic estimator in order to estimate the unavailable state vector of the robotic system. Then, the estimated state vector is used by a Linear Quadratic Regulator (LQR) that steers the ballbot to its upright position. It is demonstrated that the closed loop system that includes the ballbot, the LQR, and the EKF remains locally asymptotically stable. Numerical results corroborate the viability of the proposed control and estimation scheme.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"9 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":"127704447","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.2018.8689409
Marlen Meza-Sánchez, Eddie Clemente, R. Villalvazo, Gustavo Olague
This paper introduces a methodology for the synthesis of nonlinear tracking controllers. This approach is applied to the navigation of unicycle mobile robots, where a constrained velocity is pursued. The proposed approach extends the notions of Behavior-based control by redefining the basis behaviors as analytic functions. The conception of natural behavior (which is composed by unforced, forced and learned behaviors) in order to characterize the properties, actions, and restrictions, of the mobile robot, is introduced. Within this approach, the Genetic Programming is dynamically introduced, as a learning process, in the structure of a Control-Theory-based tracking controller. Then, a search of the set of fittest learned behaviors, addressing the complete control problem, is carried out. A selected solution with high fitness value, from the discovered set of learned behaviors, is simulated to show the effectiveness of our proposed framework.
{"title":"Bounding Velocity in Tracking Control of Unicycle Mobile Robots with Genetic Programming","authors":"Marlen Meza-Sánchez, Eddie Clemente, R. Villalvazo, Gustavo Olague","doi":"10.1109/COMROB.2018.8689409","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689409","url":null,"abstract":"This paper introduces a methodology for the synthesis of nonlinear tracking controllers. This approach is applied to the navigation of unicycle mobile robots, where a constrained velocity is pursued. The proposed approach extends the notions of Behavior-based control by redefining the basis behaviors as analytic functions. The conception of natural behavior (which is composed by unforced, forced and learned behaviors) in order to characterize the properties, actions, and restrictions, of the mobile robot, is introduced. Within this approach, the Genetic Programming is dynamically introduced, as a learning process, in the structure of a Control-Theory-based tracking controller. Then, a search of the set of fittest learned behaviors, addressing the complete control problem, is carried out. A selected solution with high fitness value, from the discovered set of learned behaviors, is simulated to show the effectiveness of our proposed framework.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"5 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":"121118642","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.2018.8689411
Rodolfo Romero Herrera, Saúl De La O Torres, Rosa Angélica Ortega Martínez
A system was developed to read facial expressions through a camera that can be incorporated into a robot; Later, the images that result are associated with a certain emotion and are interpreted and processed. The work requires of the Image Analysis so that the system is able to interpret the facial features based on the Pattern Recognition for which HOG (Histograms of Oriented Gradients) is used.
他们开发了一种系统，可以通过一个摄像头读取面部表情，这个摄像头可以安装在机器人身上;之后，产生的图像与某种情绪相关联，并被解释和处理。这项工作需要图像分析，使系统能够基于HOG (Histograms of Oriented Gradients)的模式识别来解释面部特征。
{"title":"Recognition of emotions through HOG","authors":"Rodolfo Romero Herrera, Saúl De La O Torres, Rosa Angélica Ortega Martínez","doi":"10.1109/COMROB.2018.8689411","DOIUrl":"https://doi.org/10.1109/COMROB.2018.8689411","url":null,"abstract":"A system was developed to read facial expressions through a camera that can be incorporated into a robot; Later, the images that result are associated with a certain emotion and are interpreted and processed. The work requires of the Image Analysis so that the system is able to interpret the facial features based on the Pattern Recognition for which HOG (Histograms of Oriented Gradients) is used.","PeriodicalId":446027,"journal":{"name":"2018 XX Congreso Mexicano de Robótica (COMRob)","volume":"47 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":"116235177","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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