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Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

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Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

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dc.contributor.author García, Jesús M. es_ES
dc.contributor.author Medina, Itza J. es_ES
dc.contributor.author Martínez, Jorge L. es_ES
dc.contributor.author García Cerezo, Alfonso es_ES
dc.date.accessioned 2020-05-18T07:28:31Z
dc.date.available 2020-05-18T07:28:31Z
dc.date.issued 2017-04-03
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/143494
dc.description.abstract [EN] This paper aims to describe Lázaro, which is a small mobile robot that has an arm designed especially to provide an additional contact point with the ground that can be used to improve the tipover stability and to overcome obstacles. Specifically, the description of the mechanical structure and electronic components for perception, communication and control is discussed. Subsequently, the operating characteristics of the robot are reviewed in terms of kinematics, control architecture, operating modes and interface. Finally, a description of some performance tests is presented. es_ES
dc.description.abstract [ES] Este artículo tiene por objetivo describir a Lázaro, el cual es un pequeño robot móvil que posee un brazo diseñado especialmente para propiciar un punto adicional de contacto con el suelo que puede utilizarse para mejorar la estabilidad al vuelco y superar obstáculos. Específicamente, se aborda la descripción de la estructura mecánica así como los componentes electrónicos destinados a percepción, comunicación y control. Posteriormente, se revisan las características de funcionamiento de este robot, en cuanto a su cinemática, arquitectura de control, modos de operación e interface. Finalmente, se hace una descripción de algunas pruebas de funcionamiento. es_ES
dc.description.sponsorship Este trabajo ha sido financiado parcialmente por el Decanato de Investigación de la Universidad Nacional Experimental del Táchira con el proyecto 01-020-2010. Además, por el proyecto español DPI 2015-65186-R de la CICYT, el proyecto andaluz PE2010 TEP-6101 y la Asociación Universitaria Iberoamericana de Postgrado (AUIP). . es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation UNET/01-020-2010 es_ES
dc.relation CICYT/ DPI 2015-65186-R es_ES
dc.relation Junta de Andalucia/PE2010,TEP-6101 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 Mobile robots es_ES
dc.subject Tipover stability es_ES
dc.subject Motion control es_ES
dc.subject Teleoperation es_ES
dc.subject Robots móviles es_ES
dc.subject Estabilidad al vuelco es_ES
dc.subject Control de movimiento es_ES
dc.subject Tele-operación es_ES
dc.title Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo es_ES
dc.title.alternative Lázaro: a mobile robot with an arm developed to contact with the ground es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.riai.2016.09.012
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation García, JM.; Medina, IJ.; Martínez, JL.; García Cerezo, A. (2017). Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo. Revista Iberoamericana de Automática e Informática industrial. 14(2):174-183. https://doi.org/10.1016/j.riai.2016.09.012 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.riai.2016.09.012 es_ES
dc.description.upvformatpinicio 174 es_ES
dc.description.upvformatpfin 183 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 14 es_ES
dc.description.issue 2 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\9222 es_ES
dc.contributor.funder Universidad Nacional Experimental del Táchira, Venezuela es_ES
dc.contributor.funder Comisión Interministerial de Ciencia y Tecnología es_ES
dc.contributor.funder Junta de Andalucía es_ES
dc.contributor.funder Asociación Universitaria Iberoamericana de Postgrado es_ES
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