Full text
Preview |
PDF
- Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (1MB) | Preview |
A modular robot system design and control motion modes for locomotion and manipulation tasks
Citation
Baca Garcia, Jose Antonio, Ferre Pérez, Manuel 
ORCID: https://orcid.org/0000-0003-0030-1551, Aracil Santonja, Rafael ORCID: https://orcid.org/0000-0002-2988-057X 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: |
|
| 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 |
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: | https://oa.upm.es/7953/ |
| OAI Identifier: | oai:oa.upm.es:7953 |
| Official URL: | http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumb... |
| Deposited by: | Memoria Investigacion |
| Deposited on: | 14 Jul 2011 08:35 |
| Last Modified: | 22 Feb 2017 18:04 |
