ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas

Prados, Carlos; Hernando, Miguel; Gambao, Ernesto; Brunete, Alberto

doi:10.4995/riai.2022.18749

Cited by 5 publications

(5 citation statements)

References 49 publications

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“…Reverse articulated torque under the unreasonable walking way LAURON V [8], ANYmal [9], ATHLETE [10], ROMERIN [11,12] High maneuverability, high mobile speed, and high energy efficiency…”

Section: High Maneuverability and Flexibilitymentioning

confidence: 99%

“…[46,47,50,[59][60][61][62][65][66][67]. Vacuum legged: [12,28,63,81]. Propeller wheeled: [69,79,80].…”

Section: Climbing Robotsmentioning

confidence: 99%

“…The Modular Climbin and Legged Robotic Organism Architecture [ 26 ] arises to control a modular legged and climbing robotic organism. The authors improve the performance of the behavior-based architecture for the robot ROMHEX [ 28 ] and extend its use to the ROMERIN robot [ 11 , 12 ]. MoCLORA is implemented in C++ and uses ROS2 communication tools to share information between architecture components and devices ( Figure 18 ).…”

Section: Robot Control Architecturesmentioning

confidence: 99%

“…Vacuum wheeled: [ 46 , 47 , 50 , 59 , 60 , 61 , 62 , 65 , 66 , 67 ]. Vacuum legged: [ 12 , 28 , 63 , 81 ]. Propeller wheeled: [ 69 , 79 , 80 ].…”

Section: Figurementioning

confidence: 99%

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A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or modules) with computing power and sensitivity. Their complexity, which is increased by the fact of needing elements for climbing, makes a correct structure crucial to achieve a complete, robust, and versatile system during its operation. Control architectures for legged robots are distinguished from other software architectures because of the special needs of these systems. In this paper, we present an original classification of modular legged and climbing robots, a comprehensive review of the most important control architectures in robotics, focusing on the control of modular legged and climbing robots, and a comparison of their features. The control architecture comparison aims to provide the analytical tools necessary to make informed decisions tailored to the specific needs of your robotic applications. This article includes a review and classification of modular legged and climbing robots, breaking down each category separately.

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“…Reverse articulated torque under the unreasonable walking way LAURON V [8], ANYmal [9], ATHLETE [10], ROMERIN [11,12] High maneuverability, high mobile speed, and high energy efficiency…”

Section: High Maneuverability and Flexibilitymentioning

confidence: 99%

“…[46,47,50,[59][60][61][62][65][66][67]. Vacuum legged: [12,28,63,81]. Propeller wheeled: [69,79,80].…”

Section: Climbing Robotsmentioning

confidence: 99%

Section: Robot Control Architecturesmentioning

confidence: 99%

“…Vacuum wheeled: [ 46 , 47 , 50 , 59 , 60 , 61 , 62 , 65 , 66 , 67 ]. Vacuum legged: [ 12 , 28 , 63 , 81 ]. Propeller wheeled: [ 69 , 79 , 80 ].…”

Section: Figurementioning

confidence: 99%

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A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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“…This article describes an efficient torque-based control algorithm for climbing robots with a variable number of legs. To do so, we introduce in first place the kinematic model of the ROMERIN robot [13] (Figure 1), a modular legged climbing robot for inspection and maintenance of large infrastructure, in which its components are coordinated and controlled by means of the MoCLORA architecture [14]. The robot is based on modular legs that have the ability to share energy in such a way that if the battery of one module stops working for any reason, the rest of the modules can share their energy, increasing the robustness of the robot [15].…”

Section: Introductionmentioning

confidence: 99%

Torque-Based Control of a Bio-Inspired Modular Climbing Robot

et al. 2023

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This article presents a generalizable, low computational cost, simple, and fast gravity compensation method for legged robots with a variable number of legs. It is based on the static problem, which is a reduction in the dynamic model of the robot that takes advantage of the low velocity of climbing robots. To solve it, we propose a method that computes the torque to be applied by each actuator to compensate for the gravitational forces without using the Jacobian matrix for the forces exerted by the end-effector and without using analytical methods for the gravitational components of the model. We compare our method with the most popular method and conclude that ours is twice as fast. Using the proposed gravity compensator, we present a torque-based PD controller for the position of the leg modules, and a body velocity control without dynamic compensation. In addition, we validate the method with both hardware and a simulated version of the ROMERIN robot, a modular legged and climbing robot. Furthermore, we compare our controller with the usual kinematic inverse controllers, demonstrating that the mean angular and linear error is significantly reduced, as well as the power requirements of the actuators.

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Proposal of Simultaneous Localization and Mapping for Mobile Robots Indoor Environments Using Petri Nets and Computer Vision

Mota,

Batista,

Alexandria

2024

Preprint

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Studies in the area of mobile robotics have advanced in recent years, mainly due to the evolution of technology and the growing need for automated and dynamic solutions in sectors such as industry, transport and agriculture. These devices are complex and the ideal method for localizing, mapping and navigating autonomous mobile robots changes depending on the application. Thus, the general objective of this work is to propose a simultaneous localization and mapping method for autonomous mobile robots in indoor environments, using Computer Vision (CV) and Petri Net (PN). A landmark was placed next to each door in the analyzed region and images were acquired as the rooms in the environment were explored. The algorithm processes the images to count and identify the doors. A transition is created in the PN for each door found and the rooms connected by these doors are represented by the places in the PN. Then, one of the doors is crossed, new images are obtained and the process is repeated until all rooms are explored. The algorithm generates an PN, which can be represented by an image file (.png) and a file with the extension .pnml. The results compare the layout of four environments with the respective generated PNs. Furthermore, six evaluation criteria are proposed for validating Petri nets as a topological map of environments. It is concluded that using PN for this purpose presents originality and potential innovation, being a SLAM technique for indoor environments, which demands low computational cost.

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ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas

Cited by 5 publications

References 49 publications

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Torque-Based Control of a Bio-Inspired Modular Climbing Robot

Proposal of Simultaneous Localization and Mapping for Mobile Robots Indoor Environments Using Petri Nets and Computer Vision

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