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Manipulador móvil, bibrazo y diestro con nuevas ruedas omnidireccionales

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Manipulador móvil, bibrazo y diestro con nuevas ruedas omnidireccionales

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dc.contributor.author Suárez, R. es_ES
dc.contributor.author Palomo-Avellaneda, L. es_ES
dc.contributor.author Martínez, J. es_ES
dc.contributor.author Clos, D. es_ES
dc.contributor.author García, N. es_ES
dc.date.accessioned 2020-03-04T08:27:31Z
dc.date.available 2020-03-04T08:27:31Z
dc.date.issued 2020-01-01
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/138319
dc.description.abstract [ES] Este artículo describe un manipulador móvil, bimanual y con capacidad de manipulación diestra denominado MADAR (de Mobile Anthropomorphic Dual-Arm Robot). Básicamente puede dividirse en dos partes, una base móvil y una estructura superior portando dos brazos en configuración antropomorfa con manos mecánicas diestras equipadas con sensores táctiles. La base, completamente de desarrollo propio, es de forma circular y tiene tres ruedas con un diseño novedoso que permiten una movilidad omnidireccional. La estructura superior integra elementos comerciales, como los brazos, las manos y distintos sensores, que han sido adaptados para su funcionamiento conjunto. El artículo incluye tanto la descripción de los principales elementos del hardware como del software desarrollado para su control y uso. es_ES
dc.description.abstract [EN] This article describes a mobile manipulator, equipped with two arms with dexterous capabilities, called MADAR (from Mobile Anthropomorphic Dual-Arm Robot). Basically, the manipulator can be divided into two parts, a mobile base and an upper structure that includes two arms with dexterous hands equipped with tactile sensors. The base, completely self-developed, is circular in shape and has three wheels with a novel design that allow omnidirectional mobility. The upper structure integrates commercial elements, such as the arms, the hands and dierent sensors. The article includes the description of the main elements of the hardware and the software developed for its control and use. es_ES
dc.description.sponsorship Este trabajo ha sido parcialmente financiado por el gobierno español mediante el proyecto DPI2016-80077-R.
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Robotics and robotic systems es_ES
dc.subject Industrial Robotics and robotic manipulators es_ES
dc.subject Robot manipulators es_ES
dc.subject Dexterous manipulators es_ES
dc.subject Robótica y sistemas robotizados es_ES
dc.subject Robótica industrial y manipuladores robóticos es_ES
dc.subject Manipuladores móviles es_ES
dc.subject Manipuladores diestros es_ES
dc.title Manipulador móvil, bibrazo y diestro con nuevas ruedas omnidireccionales es_ES
dc.title.alternative Dual-arm dexterous mobile manipulator with new omnidirectional wheels es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2019.11422
dc.relation.projectID info:eu-repo/grantAgreement/MINECO//DPI2016-80077-R/ES/ROBOTS AUTONOMOS DIESTROS COMO CO-TRABAJADORES CON OPERADORES HUMANOS/ es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Suárez, R.; Palomo-Avellaneda, L.; Martínez, J.; Clos, D.; García, N. (2020). Manipulador móvil, bibrazo y diestro con nuevas ruedas omnidireccionales. Revista Iberoamericana de Automática e Informática industrial. 17(1):10-21. https://doi.org/10.4995/riai.2019.11422 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2019.11422 es_ES
dc.description.upvformatpinicio 10 es_ES
dc.description.upvformatpfin 21 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 17 es_ES
dc.description.issue 1 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\11422 es_ES
dc.contributor.funder Ministerio de Economía y Competitividad es_ES
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