Papers by Hector Montes Franceschi
DOAJ (DOAJ: Directory of Open Access Journals), Jul 1, 2005
En este art ograr la estabilidad de un robot caminante de cuatro patas durante una locomoci -est ... more En este art ograr la estabilidad de un robot caminante de cuatro patas durante una locomoci -est . El m atas del robot en el eje de las ! ! implementan galgas extensiom " # $ experimental es un robot cuadr% & ! 'idr! llamado ROBOCLIMBER . Con la medici ! en tiempo real, del punto de momento cero, ampliamente conocida en el mundo de la rob ZMP [4] (del ingl ). El m ()* gravedad (cdg) del robot en cada instante durante el modo de caminar. El error que existe de la diferencia de estas variables, se convierte a trav ntrol, en las fuerzas deseadas que deben tener cada una de las patas de la m+ + ()* & , & -! !
Prisma tecnológico, Feb 3, 2023
Este trabajo describe el sistema de percepción de alta precisión implementado sobre un autobús ar... more Este trabajo describe el sistema de percepción de alta precisión implementado sobre un autobús articulado para su conducción automática a través de un carril guía. Entre las infraestructuras de transporte más prometedoras de los sistemas de transporte automáticos, el bus articulado presenta un costo bajo relacionada con la cantidad de pasajeros que puede transportar, además del confort de los mismos relacionados con otros medios de transporte masivo. La plataforma experimental que se presenta en este trabajo consiste en un vehículo móvil y un circuito privado dentro de las instalaciones del CSIC. El sistema de percepción que se presenta en este trabajo está basado en dos escáneres láser 2D, donde la principal objetivo radica en la detección de un carril guía construido en el circuito, mediante un algoritmo híbrido eficiente de extracción de líneas, y la detección de obstáculos posibles sobre el recorrido del circuito.
This paper presents the main characteristics of a hexapod robot designed and manufactured by the ... more This paper presents the main characteristics of a hexapod robot designed and manufactured by the Centre for Automation and Robotics (CAR) CSIC-UPM, Spain. The main objective of this hexapod walking robot is carry out tasks for localisation of anti-personnel mines, using a scanning manipulator on-board with a metal detector installed on the tool centre point. Previous works done by other hexapod robot, SILO6 (also designed and manufactured by CAR, CSIC-UPM), are considered in this paper. The SILO6 robot of DYLEMA project has been designed specifically in order to carry out humanitarian demining tasks, and it has been tested with excellent results. The energy consumption of the hexapod robot which is described in this article is relatively low because its legs are gravitationally decoupled. Besides, it can support high payload up to about 300 kg. Finally, is introduced the concept of the hexapod robot reconfigured.
La eliminacion de minas antipersona es un problema de dimension internacional que requiere del em... more La eliminacion de minas antipersona es un problema de dimension internacional que requiere del empleo de nuevas tecnologias tales como el desarrollo de sensores avanzados y el empleo eficiente de robots moviles. Organizaciones tales corno el International Advanced Robotics Programme (IARP) han constituido grupos de trabajo (Working Group HUDEM) focalizados en el complejo problema del desminado humanitario. En este trabajo se presenta una breve revision de diversas contribuciones y de investigaciones previas encaminadas a la solucion de este problema que han sido propuestas por Grupo de Trabajo HUDEM de IARP. El trabajo recoge y analiza una amplia seleccion bibliografica de trabajos de interes en este campo de desminado humanitario.
En este trabajo se presentan algunas herramientas para la monitorizacion y el entrenamiento en ta... more En este trabajo se presentan algunas herramientas para la monitorizacion y el entrenamiento en tareas de desminado humanitario, que han sido disenadas e implementadas en el Grupo de Robotica de Exteriores y de Servicios del Centro de Automatica y Robotica dentro del marco del proyecto Europeo del 7PM “TIRAMISU” (Toolbox Implementation for Removal of Anti-personnel Mines, Submunitions and UXO). Basicamente, se han disenado e implementado cuatro herramientas para la monitorizacion, entrenamiento y localizacion de minas antipersonas simuladas e inertes debido a las competencias del grupo de trabajo. La primera de ellas es para la formacion en el uso de detectores de metales, en donde se ha instrumentado para la monitorizacion en la realizacion de tareas especificas. La segunda, es dedicada a los e-tutores en los cuales se entrena al personal novato en los conceptos generales a gran escala del desminado humanitario y a la identificacion de minas antipersonas y las primeras teoria para s...
Assistive Robotics, 2015
The inspection platform that is described in this manuscript consists of a hexapod walking robot ... more The inspection platform that is described in this manuscript consists of a hexapod walking robot designed by the Centre for Automation and Robotics CSIC-UPM, Spain. This inspection platform will load a scanning manipulator arm which, in turn, carries a metal detector on its tool centre point. With the integration of both, hexapod robot and scanning manipulator, several test tasks about the search and localisation of antipersonnel mines will be carried out, within a controlled environment. The SCARA configuration of the hexapod robot legs will allow low energy consumption when the robot executes gaits on flat terrain or with reduced slope, due the decoupling of gravitational effects. This legged robot has a mass about 250 kg, and it can bear a high payload up to about 300 kg. Considering this load characteristic then the vibrational effects on the scanning manipulator will be reduced, when this carry out scanning tasks over the terrain.
KnE Engineering, 2018
This article presents the state of the art on the use of radiofrequency communication for the det... more This article presents the state of the art on the use of radiofrequency communication for the detection of objects and vehicles in motion, through the interaction between transmitter and receiver devices using ISM (Industrial, Scientific and Medical) bands. By quantifying parameters such as the absence or presence of signals and their intensity, it is possible to approximate the distance between an emitting device and a receiver, localized in the vehicle and a fixed point, respectively . The study of the methodologies used in this article aims to develop a system oriented to guide people with visual disabilities in the public transportation system, taking advantage of the main characteristics of radiofrequency communication: low cost, easy implementation and full compatibility with electronic boards built on embedded systems.Keywords: radiofrequency, ISM bands, detection of vehicles in motion, support for visual disability people, ETA
The motivation of this research was to explore the feasibility of detecting and locating fruits f... more The motivation of this research was to explore the feasibility of detecting and locating fruits from different kinds of crops in natural scenarios. To this end, a unique, modular and easily adaptable multisensory system and a set of associated pre-processing algorithms are proposed. The offered multisensory rig combines a high resolution colour camera and a multispectral system for the detection of fruits, as well as for the discrimination of the different elements of the plants, and a Time-Of-Flight (TOF) camera that provides fast acquisition of distances enabling the localisation of the targets in the coordinate space. A controlled lighting system completes the setup , increasing its flexibility for being used in different working conditions. The pre-processing algorithms designed for the proposed multisensory system include a pixel-based classification algorithm that labels areas of interest that belong to fruits and a registration algorithm that combines the results of the aforementioned classification algorithm with the data provided by the TOF camera for the 3D reconstruction of the desired regions. Several experimental tests have been carried out in outdoors conditions in order to validate the capabilities of the proposed system.
Robotics Transforming the Future, 2018
In this paper, a description of a control system for basic grip movements for a low-cost hand pro... more In this paper, a description of a control system for basic grip movements for a low-cost hand prosthesis is presented. The idea is to provide movements to those people who do not have fingers due to congenital malformations, considering that the movements of their wrists are complete. The wrist movements are acquired by means of the Myo bracelet, which has wireless communication. The Myo bracelet has eight myoelectric sensors and an IMU, i.e., non-invasive sensors that are positioned around the forearm. The gestures read by means of the Myo bracelet are processed by the control system to send the commands to the small electric actuators installed in the prototype hand prosthesis.
Robotics for Sustainable Future, 2021
In recent years, semi-autonomous and teleoperated mobile robots have been designed and implemente... more In recent years, semi-autonomous and teleoperated mobile robots have been designed and implemented to perform various disinfection tasks in different environments. Since the end of 2019 new mobile robots have been created or modified to contribute to the needs of disinfection tasks caused by the COVID-19 pandemic. Most of these mobile platforms currently in use are based on disinfection by means of either UVC rays or approved chemical products. In this paper, the description of a new disinfection robot against SARS-CoV-2 is presented, with the idea of making a new contribution to this cause. This is a semiautonomous mobile robot that carries a fogging system whose nozzle is guided by means of a small two-degree-of-freedom robotic arm designed and implemented for this purpose. In addition, this disinfection mobile robot can also be tele operated. The robot has an on-board computer for high-level control and microcontroller boards for low-level control. It also has an on-board sensory system consisting of depth and tracking cameras. Communication with the remote operator is done via the Internet by implementing a Wi-Fi module in the robot.
Sensors, 2019
For a significant number of people with visual impairments, public transport plays an important r... more For a significant number of people with visual impairments, public transport plays an important role in productivity, community participation, and independence, since it may be the only feasible mobility option to participate in their education, work, medical care, food, and to attend many other places in their community. To use the public bus system safely, effectively, and autonomously, these people need to collect information about their physical environment and visible information at stops and terminals, such as timetables, routes, etc. Unfortunately, most people who are blind or visually impaired experience difficulties in getting on the right bus or getting off at the right destination. These situations usually force them to depend on other people that assist them in activities close to their homes, or settle for simpler jobs, or simply stay at home. Therefore, our efforts should aim to develop a system where technology is used to empower people with visual disabilities, allow...
Advances in Intelligent Systems and Computing, 2015
This work presents the reconfiguration from a previous climbing robot to an all-terrain robot for... more This work presents the reconfiguration from a previous climbing robot to an all-terrain robot for applications in outdoor environments. The original robot is a six-legged climbing robot for high payloads. This robot has used special electromagnetic feet in order to support itself on vertical ferromagnetic walls to carry out specific tasks. The reconfigured all-terrain hexapod robot will be able to perform different applications on the ground, for example, as inspection platform for humanitarian demining tasks. In this case, the reconfigured hexapod robot will load a scanning manipulator arm with a specific metal detector as end-effector. With the implementation of the scanning manipulator on the hexapod robot, several tasks about search and localisation of antipersonnel mines would be carried out. The robot legs have a SCARA configuration, which allows low energy consumption when the robot performs trajectories on a quasi-flat terrain.
Experimental Evaluation of a Passive Biped Under Structural Parameter Variations
Emerging Trends in Mobile Robotics - Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2010
Sensory System Evaluation Methodology for Automatic Fruits Harvesting
Field Robotics, 2011
ABSTRACT This paper presents the study of a wide collection of activities focused on automatic fr... more ABSTRACT This paper presents the study of a wide collection of activities focused on automatic fruit harvesting, in order to understand the main challenges of this research area. A methodology to evaluate the fusion and the performance of several sensor systems has also been addressed. The purpose of the proposed methodology is to successfully deal with the occlusions caused by leafs, trunks, stamps and the similarities between the fruits and the background during the detection, localisation and characterisation of fruits.
High-Accuracy Measurement System for Secure Steering of Large Vehicles
Field Robotics, 2011
A measurement system of high accuracy is of great influence for guidance for automated vehicles. ... more A measurement system of high accuracy is of great influence for guidance for automated vehicles. This paper presents the description of the high-accuracy measurement system implemented on a large mobile vehicle, an articulated bus Volvo B10M of 18 m in length. Several experiments have been performed on the test lane, with small radii of curvature, where a guide rail has been embedded. The measurement system consists of a guiding mechanical system, which roll within a guide rail designed for this purpose. The measurement system is capable of sending the bus control system the angular position of the guide rail with respect to the current position of the bus. The measurement of the angular position of the guide rail is obtained by means of two incremental encoders with resolution up to 0.036 degrees. In addition, the measurement system acquires the advance speed data from the bus. In this paper several experimental results with the utilization of the measurement system are presented, with the purpose to develop the lateral and longitudinal control algorithms to be implemented in the bus.
Force Feedback Control Implementation for SMART Non-Linear Actuator
Climbing and Walking Robots, 2005
ABSTRACT SMART is a non-linear actuator used in the humanoid biped robot SILO2. This actuator has... more ABSTRACT SMART is a non-linear actuator used in the humanoid biped robot SILO2. This actuator has been developed by the Industrial Automation Institute in order to spend less energy without losing kinematic skills. This paper presents kinematic parameters of hip joint in the lateral plane and the place where the force sensing is realized. The output and input torque are calculated with the measurement of force in one rod of SMART and the motor current, respectively; and they are compared in order to know the performance of this joint. Force control in the hip lateral joint was carried out. By means of this control, compliance movement and detection of obstacles when the robot completes a gait can be realized. Additionally with this force control the biped robot stability in the lateral plane is improved.
On the Application of Impedance Control to a Non-linear Actuator
Climbing and Walking Robots, 2006
ABSTRACT Non-linear actuators are employed to drive some joints of the SILO2 humanoid robot. Savi... more ABSTRACT Non-linear actuators are employed to drive some joints of the SILO2 humanoid robot. Saving energy along locomotion cycle is the main objective of this nonlinear actuator. In order to increase knowledge about the dynamic characteristics of this four-bar mechanism, called SMART, one force sensor has been implemented on one bar of this actuator. Moreover, taking advantage from that extra sensitivity it has been possible to implement force feedback control algorithms. In this paper, an impedance controller for the robot joints actuated by the non-linear mechanism is presented. Experimental evaluation, including potential energy analysis of the controller, are explained. KeywordsImpedance control–nonlinear actuator–humanoid robot–compliance control–terrain adaptation
Applied Sciences, 2017
Nowadays, with highly developed instrumentation, sensing and actuation technologies, it is possib... more Nowadays, with highly developed instrumentation, sensing and actuation technologies, it is possible to foresee an important advance in the field of autonomous and/or semi-autonomous transportation systems. Intelligent Transport Systems (ITS) have been subjected to very active research for many years, and Bus Rapid Transit (BRT) is one area of major interest. Among the most promising transport infrastructures, the articulated bus is an interesting, low cost, high occupancy capacity and friendly option. In this paper, an experimental platform for research on the automatic control of an articulated bus is presented. The aim of the platform is to allow full experimentation in real conditions for testing technological developments and control algorithms. The experimental platform consists of a mobile component (a commercial articulated bus) fully instrumented and a ground test area composed of asphalt roads inside the Consejo Superior de Investigaciones Científicas (CSIC) premises. This paper focuses also on the development of a human machine interface to ease progress in control system evaluation. Some experimental results are presented in order to show the potential of the proposed platform.
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Papers by Hector Montes Franceschi