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ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas

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ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas

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dc.contributor.author Prados, Carlos es_ES
dc.contributor.author Hernando, Miguel es_ES
dc.contributor.author Gambao, Ernesto es_ES
dc.contributor.author Brunete, Alberto es_ES
dc.date.accessioned 2023-04-20T07:50:18Z
dc.date.available 2023-04-20T07:50:18Z
dc.date.issued 2023-03-31
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/192860
dc.description.abstract [EN] This article presents the ROMERIN robot, a modular robotic organism composed of legs that use active suction cups as system of adhesion to the environment, and whose objective is the inspection of infrastructures by means of climbing. The physical structure of the robotic organism is detailed, including an explanation of the modules and the body. It is also included a description of the control architecture, which is focused on the torque-based control of the position of the organism body, whose number of legs and their arrangement is variable, giving the system versatility for use in different environments and applications. The designed control architecture serves as a basis for the control of legged climbing robots with any number of legs. Its performance has been checked on the physical ROMERIN robot and its digital twin, recording and displaying the obtained results. In addition, the performance of the control architecture has been verified for different configurations of the organism, concluding its modularity and versatility for different applications. es_ES
dc.description.abstract [ES] Este artículo presenta el robot ROMERIN, un organismo robótico modularmente compuesto por patas que utilizan ventosas activas como sistema de adhesión al entorno, y cuyo objetivo es la inspección de infraestructuras mediante la escalada. Se detalla la estructura física del organismo robótico, incluyendo una explicación de los módulos y del cuerpo. También se incluye una descripción de la arquitectura de control basada en el control en par de la posición del cuerpo del organismo, cuyo número de patas y disposición de las mismas es variable de forma que el sistema es versátil para su utilización en diferentes entornos y aplicaciones. La arquitectura de control que se ha diseñado sirve de base para el control de robots escaladores con patas de cualquier número de patas. Se ha comprobado su funcionamiento en el robot físico ROMERIN y en su gemelo digital (digital twin), registrando y mostrando dichos resultados. Además, se ha comprobado el funcionamiento de la arquitectura de control para diferentes configuraciones del organismo, demostrando su modularidad y versatilidad para diferentes aplicaciones. es_ES
dc.description.sponsorship Esta investigación ha recibido financiación de RobotCity230-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, fundado por “Programas de Actividades I+D en la Comunidad de Madrid” y cofinanciado por “Structural Funds of the EU”. El proyecto en el cual este trabajo esta siendo desarrollado fue inicialmente fundado por el Plan Nacional Español de Investigación e Innovación de Ciencia y Tecnología, DPI2017-85738-R. es_ES
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 - Compartir igual (by-nc-sa) es_ES
dc.subject Kinematics of robot for control es_ES
dc.subject Model of robots and multi-robot systems for control es_ES
dc.subject Field es_ES
dc.subject Marine es_ES
dc.subject Submarine and aereal robotics es_ES
dc.subject Cinemática de robots para control es_ES
dc.subject Modelado de robots y sistemas multi-robot para control es_ES
dc.subject Robótica de campo es_ES
dc.subject Marina y submarina y aérea es_ES
dc.title ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas es_ES
dc.title.alternative ROMERIN: A climbing robotic organism based on modular legs with active suction cups es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2022.18749
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-85738-R/ES/ROBOT MODULAR ESCALADOR PARA INSPECCION DE INFRAESTRUCTURAS/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/CM/Madrid Robotics Digital Innovation Hub/S2018/NMT-4331 es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Prados, C.; Hernando, M.; Gambao, E.; Brunete, A. (2023). ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas. Revista Iberoamericana de Automática e Informática industrial. 20(2):175-186. https://doi.org/10.4995/riai.2022.18749 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2022.18749 es_ES
dc.description.upvformatpinicio 175 es_ES
dc.description.upvformatpfin 186 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 20 es_ES
dc.description.issue 2 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\18749 es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
dc.contributor.funder Comunidad de Madrid es_ES
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