A modular robot system design and control motion modes for locomotion and manipulation tasks

Baca Garcia, Jose Antonio and Ferre Pérez, Manuel and Aracil Santonja, Rafael and Campos Bonilla, Aníbal Alexandre (2010). A modular robot system design and control motion modes for locomotion and manipulation tasks. In: "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010", 18/10/2010 - 22/10/2010, Taipei, China. ISBN 978-1-4244-6674-0.

Description

Title: A modular robot system design and control motion modes for locomotion and manipulation tasks
Author/s:
  • Baca Garcia, Jose Antonio
  • Ferre Pérez, Manuel
  • Aracil Santonja, Rafael
  • Campos Bonilla, Aníbal Alexandre
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010
Event Dates: 18/10/2010 - 22/10/2010
Event Location: Taipei, China
Title of Book: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010
Date: December 2010
ISBN: 978-1-4244-6674-0
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper describes a modular robot system design SMART, based on three types of modules for urban search tasks. The system attempts to give a quick solution to natural and man-made disaster emergencies. It allows for rapid and cost-effective design and fabrication. The approach is based on the use of an inventory of three types of modules i.e., power and control module, joint module, and specialized module. They are interchangeable in different ways to form different robot configurations for a variety of tasks. Forward and inverse kinematics from assembled robot configurations are analyzed. Description of control motion modes for human-modular robot system interaction is presented

More information

Item ID: 7953
DC Identifier: http://oa.upm.es/7953/
OAI Identifier: oai:oa.upm.es:7953
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5649514
Deposited by: Memoria Investigacion
Deposited on: 14 Jul 2011 08:35
Last Modified: 22 Feb 2017 18:04
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