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Desenvolvimento de um modelo simplificado dos membros inferiores de um robô bípede utilizando ROSMaciel, Eduardo Henrique January 2014 (has links)
Este trabalho apresenta o desenvolvimento de um modelo simplificado dos membros inferiores de um robô bípede, composto basicamente por uma cintura, dois fêmures, duas tíbias e dois pés. A estrutura mecânica do modelo em questão, possui seis graus de liberdade e tem as dimensões aproximadas de um ser humano de estrutura mediana. Seu sistema de controle e de geração de trajetórias é desenvolvido utilizando funcionalidades disponíveis no Robot Operating System (ROS), porém ao contrário da maioria dos controladores existentes no ROS, este projeto propõe implementar um pacote contendo um controlador multivariável (multi-input, multi-output (MIMO)), utilizando a técnica de controle por torque calculado. Para a geração de trajetórias das pernas do robô, implementam-se três tipos diferentes de geração, a interpolação linear, cubica e de quinto grau. Para os testes de validação do sistema de controle e de geração de trajetórias utiliza-se o simulador Gazebo. / This work presents the development of a simplified model of a biped robot’s lower limbs, composed basically by the waist, two femurs, two tibia and two feet. The model’s mechanical structure has six degree of freedom and its dimensions are comparable to a human being’s body. Its control and trajectory generation systems are developed making use of some features available in the Robot Operation System (ROS) tool. However, contrary to most of the controllers offered by ROS, this project suggests the implementation of a new package, including a MIMO (multi-input multi-output) controller, making use of the calculated torque technique. As for the trajectory generation system, three different methodologies are applied of the interpolation: linear, cubic and polynomial quintic. To validate both control and trajectory generation systems, the Gazebo simulator is used.
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Desenvolvimento de um modelo simplificado dos membros inferiores de um robô bípede utilizando ROSMaciel, Eduardo Henrique January 2014 (has links)
Este trabalho apresenta o desenvolvimento de um modelo simplificado dos membros inferiores de um robô bípede, composto basicamente por uma cintura, dois fêmures, duas tíbias e dois pés. A estrutura mecânica do modelo em questão, possui seis graus de liberdade e tem as dimensões aproximadas de um ser humano de estrutura mediana. Seu sistema de controle e de geração de trajetórias é desenvolvido utilizando funcionalidades disponíveis no Robot Operating System (ROS), porém ao contrário da maioria dos controladores existentes no ROS, este projeto propõe implementar um pacote contendo um controlador multivariável (multi-input, multi-output (MIMO)), utilizando a técnica de controle por torque calculado. Para a geração de trajetórias das pernas do robô, implementam-se três tipos diferentes de geração, a interpolação linear, cubica e de quinto grau. Para os testes de validação do sistema de controle e de geração de trajetórias utiliza-se o simulador Gazebo. / This work presents the development of a simplified model of a biped robot’s lower limbs, composed basically by the waist, two femurs, two tibia and two feet. The model’s mechanical structure has six degree of freedom and its dimensions are comparable to a human being’s body. Its control and trajectory generation systems are developed making use of some features available in the Robot Operation System (ROS) tool. However, contrary to most of the controllers offered by ROS, this project suggests the implementation of a new package, including a MIMO (multi-input multi-output) controller, making use of the calculated torque technique. As for the trajectory generation system, three different methodologies are applied of the interpolation: linear, cubic and polynomial quintic. To validate both control and trajectory generation systems, the Gazebo simulator is used.
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Desenvolvimento de um modelo simplificado dos membros inferiores de um robô bípede utilizando ROSMaciel, Eduardo Henrique January 2014 (has links)
Este trabalho apresenta o desenvolvimento de um modelo simplificado dos membros inferiores de um robô bípede, composto basicamente por uma cintura, dois fêmures, duas tíbias e dois pés. A estrutura mecânica do modelo em questão, possui seis graus de liberdade e tem as dimensões aproximadas de um ser humano de estrutura mediana. Seu sistema de controle e de geração de trajetórias é desenvolvido utilizando funcionalidades disponíveis no Robot Operating System (ROS), porém ao contrário da maioria dos controladores existentes no ROS, este projeto propõe implementar um pacote contendo um controlador multivariável (multi-input, multi-output (MIMO)), utilizando a técnica de controle por torque calculado. Para a geração de trajetórias das pernas do robô, implementam-se três tipos diferentes de geração, a interpolação linear, cubica e de quinto grau. Para os testes de validação do sistema de controle e de geração de trajetórias utiliza-se o simulador Gazebo. / This work presents the development of a simplified model of a biped robot’s lower limbs, composed basically by the waist, two femurs, two tibia and two feet. The model’s mechanical structure has six degree of freedom and its dimensions are comparable to a human being’s body. Its control and trajectory generation systems are developed making use of some features available in the Robot Operation System (ROS) tool. However, contrary to most of the controllers offered by ROS, this project suggests the implementation of a new package, including a MIMO (multi-input multi-output) controller, making use of the calculated torque technique. As for the trajectory generation system, three different methodologies are applied of the interpolation: linear, cubic and polynomial quintic. To validate both control and trajectory generation systems, the Gazebo simulator is used.
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Multirobot Localization Using Heuristically Tuned Extended Kalman FilterMasinjila, Ruslan January 2016 (has links)
A mobile robot needs to know its pose (position and orientation) in order to navigate and perform useful tasks. The problem of determining this pose with respect to a global or local frame is called localisation, and is a key component in providing autonomy to mobile robots. Thus, localisation answers the question Where am I? from the robot’s perspective. Localisation involving a single robot is a widely explored and documented problem in mobile robotics. The basic idea behind most documented localisation techniques involves the optimum combination of noisy and uncertain information that comes from various robot’s sensors. However, many complex robotic applications require multiple robots to work together and share information among themselves in order to successfully and efficiently accomplish certain tasks. This leads to research in collaborative localisation involving multiple robots. Several studies have shown that when multiple robots collaboratively
localise themselves, the resulting accuracy in their estimated positions and orientations outperforms that of a single robot, especially in scenarios where robots do not have access to information about their surrounding environment.
This thesis presents the main theme of most of the existing collaborative, multi-robot localisation solutions, and proposes an alternative or complementary solution to some of the existing challenges in multirobot localisation. Specifically, in this thesis, a heuristically tuned Extended Kalman Filter is proposed to localise a group of mobile robots. Simulations show that when certain conditions are met, the proposed tuning method significantly improves the accuracy and reliability of poses estimated by the Extended Kalman Filter. Real world experiments performed on custom-made robotic platforms validate the simulation results.
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The Robot Operating System in Transition: Experiments and TutorialsStarkman, James 04 June 2018 (has links)
No description available.
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Digitaler Zwilling durch Verbindung von ROS-Kompatiblen Robotern mit Virtual-Reality zur Echtzeitvisualisierung von RoboterbewegungAnilkumar, Akhilraj 20 June 2024 (has links)
Die Verbindung von Robotern mit Virtual Reality (VR) zur Echtzeitvisualisierung stellt eine
erhebliche Programmierherausforderung dar. Dieser Vortrag zeigt einen vereinfachten Ansatz
unter Verwendung des Robot Operating System (ROS), einer Open-Source-Plattform, die diese
Aufgabe erleichtert. Durch den Einsatz von ROS kann der Programmieraufwand deutlich
reduzieren werden, indem vorhandene Pakete für eine nahtlose Integration von Robotern und VR
genutzt werden. In dieser Präsentation wird schrittweise erläutert, wie diese Verbindung realisiert
wird, was neue Möglichkeiten in der Visualisierung und Steuerung von Robotern mit minimalem
Programmieraufwand erschließt. Diese Methode ebnet den Weg für innovative Anwendungen in
Robotik und VR und bietet praktische Einblicke für Entwickler und Forscher. / Connecting robots with Virtual Reality (VR) for real-time visualization poses a significant
programming challenge. This presentation demonstrates a simplified approach using the Robot
Operating System (ROS), an open-source platform that facilitates this task. By utilizing ROS, the
programming effoit can be significantly reduced by leveraging existing packages for seamless
robot-VR integration. This presentation will explain step-by-step how this connection can be
realized, opening new possibilities in visualization and control of robots with minimal programming
effort. This method paves the way for innovative applications in robotics and VR, providing
practical insights for developers and researchers.
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Motion Control for Intelligent Ground Vehicles Based on the Selection of Paths Using Fuzzy InferenceWang, Shiwei 04 May 2014 (has links)
In this paper I describe a motion planning technique for intelligent ground vehicles. The technique is an implementation of a path selection algorithm based on fuzzy inference. The approach extends on the motion planning algorithm known as driving with tentacles. The selection of the tentacle (a drivable path) to follow relies on the calculation of a weighted cost function for each tentacle in the current speed set, and depends on variables such as the distance to the desired position, speed, and the closeness of a tentacle to any obstacles. A Matlab simulation and the practical implementation of the fuzzy inference rule on a Clearpath Husky robot within the Robot Operating System (ROS) framework are provided.
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Recognizing Engagement Behaviors in Human-Robot InteractionPonsler, Brett 17 January 2011 (has links)
Based on analysis of human-human interactions, we have developed an initial model of engagement for human-robot interaction which includes the concept of connection events, consisting of: directed gaze, mutual facial gaze, conversational adjacency pairs, and backchannels. We implemented the model in the open source Robot Operating System and conducted a human-robot interaction experiment to evaluate it.
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Metaheurísticas para geração de alvos para robôs exploratórios autônomos / Metaheuristics for generating targets for autonomous exploratory robotsSantos, Raphael Gomes 17 August 2016 (has links)
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Previous issue date: 2016-08-17 / Autonomous exploration, in robotics, can be defined as the act of moving into an unknown
environment, at priori, while building up a map of the environment. A great deal of
literature describes several problems that are relate to the strategy exploration: perception,
location, trajectory control and mapping. This work aims to present an autonomous
exploration algorithm based on metaheuristics. Therefore, the problem of autonomous
exploration of mobile robots is formulated as an optimization problem, providing data
for metaheuristics that are able to search points in the space of solutions that represent
positions on the map under construction that best meet the objectives of the exploration.
Metaheuristics are approximate methods that guarantee sufficiently good solutions to
optimization problems. The proposal was implemented and incorporated as an optimization
module in a simultaneous location and mapping system that was run on the Robot
Operating System environment and proved to be able to guide a simulated robot without
human intervention. Two optimization metaheuristics were implemented to guide target to
simulated robot: Genetic Algorithm and Firefly Algorithm. Both algorithms have achieved
good results, however the second one was able to guide robot by best trajectories. / Exploração autônoma, em robótica, pode ser definida como o ato de mover-se em um
ambiente, a princípio desconhecido, enquanto constrói-se um mapa deste ambiente. Uma
grande parte da literatura relata vários problemas que se relacionam com a estratégia de
exploração: percepção, localização, trajetória, controle e mapeamento. Este trabalho visa
apresentar um algoritmo de exploração autonoma baseado em metaheurísticas. Para tanto,
o problema de exploração autônoma de robôs móveis é formulado como um problema de
otimização, fornecendo dados para que metaheurísticas sejam capazes de buscar pontos
no espaço de soluções que representam posições no mapa em construção que melhor
satisfaçam os objetivos da exploração. Metaheuristicas são metodos aproximados que
garantem soluções suficientemente boas para problemas de otimização. A proposta foi
implementada e incorporada como um módulo de otimização em um sistema de localização
e mapeamento simultâneos que foi executado em ambiente Robot Operating System e
mostrou-se capaz de guiar um robô simulado sem intervenção humana. As metaheurísticas
usadas foram o Algoritmo Genético e o Algoritmo de Vagalumes. Ambos os algoritmos
obtiveram bons resultados, no entanto o Algoritmo de Vagalumes guiou o robô por
trajetórias melhores.
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Design and development of a novel omni-directional platformBemis, Steven 01 August 2009 (has links)
This thesis presents the design and development of a unique omni-directional platform
known as the Omnibot which was built in the Mechatronic and Robotic Systems
Laboratory at UOIT. The Omnibot's layout is novel because its drive axes do not
intersect with the geometric center of the body, which is typical for omni-directional
platforms using segmented omni-directional wheels. This design enables the center of
mass to be lower in the design and increases the stability. A suspension system was
designed for each of the four wheels to limit vibrations and to ensure contact between
the wheels and operating surface. The Omnibot was built to modularly support many
systems, including a robot arm, without altering the mechanical design of the frame.
Two control modes were developed: local and global. Commands to drive the Omnibot
can be received from either a joystick that can be directly interfaced with the
controller or with commands that are sent from other systems that are either on or o
of the Omnibot. Both control modes require encoder feedback to ensure commanded
velocities are being executed as specified. Global control requires feedback from an
indoor localization system to determine the Omnibot's pose. Early implementation
of the localization system is discussed. An open source robotics software, known as
Robot Operating System (ROS) was selected for implementation of the Omnibot systems.
ROS serves as a middleware which allows components, such as the localization
system and remote desktop, to communicate with each other through a decoupled
messaging system. ROS is modular and
exible, allowing for easy adaptation of future
components. Test results of the Omnibot in operation are presented.
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