Mostrar el registro sencillo del ítem
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 |
dc.description.references | Alkalla, M. G., Fanni, M. A., Mohamed, A. M., Hashimoto, S., mar 2017. Teleoperated propeller-type climbing robot for inspection of petrochemical vessels. Industrial Robot: An International Journal 44 (2), 166-177. https://doi.org/10.1108/IR-07-2016-0182 | es_ES |
dc.description.references | Andrikopoulos, G., Papadimitriou, A., Brusell, A., Nikolakopoulos, G., nov 2019. On model-based adhesion control of a vortex climbing robot. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. https://doi.org/10.1109/IROS40897.2019.8968069 | es_ES |
dc.description.references | Baghani, A., Ahmadabadi, M., Harati, A., 2005. Kinematics modeling of a wheel-based pole climbing robot (UT-PCR). In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation. IEEE. URL: https://doi.org/10.1109%2Frobot.2005.1570423 | es_ES |
dc.description.references | Bandyopadhyay, T., Steindl, R., Talbot, F., Kottege, N., Dungavell, R., Wood, B., Barker, J., Hoehn, K., Elfes, A., oct 2018. Magneto: A versatile multilimbed inspection robot. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. https://doi.org/10.1109/IROS.2018.8593891 | es_ES |
dc.description.references | Bellicoso, C. D., Gehring, C., Hwangbo, J., Fankhauser, P., Hutter, M., 2016. Perception-less terrain adaptation through whole body control and hierarchical optimization. In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids). IEEE, pp. 558-564. URL: https://doi.org/10.1109%2Fhumanoids.2016.7803330 | es_ES |
dc.description.references | Bisht, R. S., Pathak, P. M., Panigrahi, S. K., 2022. Design and development of a glass fac¸ade cleaning robot. Mechanism and Machine Theory 168, 104585. https://doi.org/10.1016/j.mechmachtheory.2021.104585 | es_ES |
dc.description.references | Buettner, T., Heppner, G., Roennau, A., Dillmann, R., jul 2019. Nimble limbs - intelligent attachable legs to create walking robots from variously shaped objects. In: 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE. https://doi.org/10.1109/AIM.2019.8868845 | es_ES |
dc.description.references | Buettner, T., Wilke, D., Roennau, A., Heppner, G., Dillmann, R., sep 2018. A scalable, modular leg design for multi-legged stair climbing robots. In: Robotics Transforming the Future. CLAWAR Association Ltd. URL: https://doi.org/10.13180%2Fclawar.2018.10-12.09.34 | es_ES |
dc.description.references | B¨uschges, A., Schmidt, J., dec 2015. Neuronal control of walking: studies on insects. e-Neuroforum 21 (4), 105-112. https://doi.org/10.1515/s13295-015-0017-8 | es_ES |
dc.description.references | Desai, R., Li, B., Yuan, Y., Coros, S., sep 2018. Interactive co-design of form and function for legged robots using the adjoint method. In: Robotics Transforming the Future. CLAWAR Association Ltd. URL: https://doi.org/10.13180%2Fclawar.2018.10-12.09.26 | es_ES |
dc.description.references | Eto, H., Asada, H. H., may 2020. Development of a wheeled wall-climbing robot with a shape-adaptive magnetic adhesion mechanism. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE. https://doi.org/10.1109/ICRA40945.2020.9196919 | es_ES |
dc.description.references | Fankhauser, P., Bellicoso, C. D., Gehring, C., Dube, R., Gawel, A., Hutter, M., nov 2016. Free gait - an architecture for the versatile control of legged robots. In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids). IEEE. https://doi.org/10.1109/HUMANOIDS.2016.7803401 | es_ES |
dc.description.references | Ge, D., Ren, C., Matsuno, T., Ma, S., oct 2016. Guide rail design for a passive suction cup based wall-climbing robot. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. https://doi.org/10.1109/IROS.2016.7759850 | es_ES |
dc.description.references | Gilpin, K., Rus, D., sep 2010. Modular robot systems. IEEE Robotics & Automation Magazine 17 (3), 38-55. https://doi.org/10.1109/MRA.2010.937859 | es_ES |
dc.description.references | Grieco, J., Prieto, M., Armada, M., de Santos, P. G., 1998. A six-legged climbing robot for high payloads. In: Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104). IEEE. URL: https://doi.org/10.1109%2Fcca.1998.728488 | es_ES |
dc.description.references | Hernando, M., Alonso, M., Prados, C., Gambao, E., 2021a. Behaviorbased control architecture for legged-and-climber robots. Applied Sciences 11 (20). https://doi.org/10.3390/app11209547 | es_ES |
dc.description.references | Hernando, M., Brunete, A., Gambao, E., 2019. ROMERIN: A modular climber robot for infrastructure inspection. IFAC-PapersOnLine 52 (15), 424-429. https://doi.org/10.1016/j.ifacol.2019.11.712 | es_ES |
dc.description.references | Hernando, M., Gambao, E., Prados, C., Brito, D., Brunete, A., 2022. ROMERIN: A new concept of a modular autonomous climbing robot. International Journal of Advanced Robotic Systems 19 (5), 17298806221123416. https://doi.org/10.1177/17298806221123416 | es_ES |
dc.description.references | Hernando, M., G'omez, V., Brunete, A., Gambao, E., feb 2021b. CFD modelling and optimization procedure of an adhesive system for a modular climbing robot. Sensors 21 (4), 1117. https://doi.org/10.3390/s21041117 | es_ES |
dc.description.references | Herzog, A., Rotella, N., Mason, S., Grimminger, F., Schaal, S., Righetti, L., 2016. Momentum control with hierarchical inverse dynamics on a torquecontrolled humanoid. Autonomous Robots 40 (3), 473-491. https://doi.org/10.1007/s10514-015-9476-6 | es_ES |
dc.description.references | Humza, R., Scholz, O., Mokhtar, M., Timmis, J., Tyrrell, A., nov 2009. Towards energy homeostasis in an autonomous self-reconfigurable modular robotic organism. In: 2009 Computation World: Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns. IEEE. https://doi.org/10.1109/ComputationWorld.2009.83 | es_ES |
dc.description.references | Hutter, M., Gehring, C., Bloesch, M., Hoepflinger, M. A., Remy, C. D., Siegwart, R., jul 2012. Starleth: A compliant quadrupedal robot for fast, efficient, and versatile locomotion. In: Adaptive Mobile Robotics. World Scientific, pp. 483-490. https://doi.org/10.1142/9789814415958_0062 | es_ES |
dc.description.references | Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., Diethelm, R., Bachmann, S., Melzer, A., Hoepflinger, M., oct 2016. ANYmal - a highly mobile and dynamic quadrupedal robot. In: 2016 IEEE/RSJ https://doi.org/10.1109/IROS.2016.7758092 | es_ES |
dc.description.references | International Conference on Intelligent Robots and Systems (IROS). IEEE. URL: https://doi.org/10.1109%2Firos.2016.7758092 | es_ES |
dc.description.references | Iida, F., oct 2007. Autonomous robots: From biological inspiration to implementation and control. Artificial Life 13 (4), 419-421. https://doi.org/10.1162/artl.2007.13.4.419 | es_ES |
dc.description.references | Jakimovski, B., Meyer, B., Maehle, E., 2009. Self-reconfiguring hexapod robot oscar using organically inspired approaches and innovative robot leg amputation mechanism. In: International Conference on Automation, Robotics and Control Systems, ARCS-09, Orlando, USA. https://doi.org/10.5772/8838 | es_ES |
dc.description.references | Kamagaluh, B., Kumar, J. S., Virk, G. S., jul 2012. Design of multi-terrain climbing robot for petrochemical applications. In: Adaptive Mobile Robotics. World Scientific, pp. 639-646. https://doi.org/10.1142/9789814415958_0082 | es_ES |
dc.description.references | Katz, D., Kenney, J., Brock, O., 2008. How can robots succeed in unstructured environments. In: In Workshop on Robot Manipulation: Intelligence in Human Environments at Robotics: Science and Systems. Citeseer. | es_ES |
dc.description.references | Kennedy, B., Okon, A., Aghazarian, H., Badescu, M., Bao, X., Bar-Cohen, Y., Chang, Z., Dabiri, B. E., Garrett, M., Magnone, L., Sherrit, S., jul 2006. Lemur IIb: a robotic system for steep terrain access. Industrial Robot: An International Journal 33 (4), 265-269. https://doi.org/10.1108/01439910610667872 | es_ES |
dc.description.references | Kim, D., Di Carlo, J., Katz, B., Bledt, G., Kim, S., 2019. Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control. arXiv preprint arXiv:1909.06586. | es_ES |
dc.description.references | Kim, H., Kim, D., Yang, H., Lee, K., Seo, K., Chang, D., Kim, J., aug 2008. Development of a wall-climbing robot using a tracked wheel mechanism. Journal of Mechanical Science and Technology 22 (8), 1490-1498. https://doi.org/10.1007/s12206-008-0413-x | es_ES |
dc.description.references | Longo, D., Muscato, G., mar 2006. The alicia/sup 3/ climbing robot: a threemodule robot for automatic wall inspection. IEEE Robotics & Automation Magazine 13 (1), 42-50. https://doi.org/10.1109/MRA.2006.1598052 | es_ES |
dc.description.references | Maehle, E., Brockmann, W., Grosspietsch, K.-E., Auf, A. E. S., Jakimovski, B., Krannich, S., Litza, M., Maas, R., Al-Homsy, A., 2011. Application of the organic robot control architecture ORCA to the six-legged walking robot OSCAR. In: Organic Computing-A Paradigm Shift for Complex Systems. Springer Basel, pp. 517-530. https://doi.org/10.1007/978-3-0348-0130-0_34 | es_ES |
dc.description.references | Megaro, V., Thomaszewski, B., Nitti, M., Hilliges, O., Gross, M., Coros, S., nov 2015. Interactive design of 3d-printable robotic creatures. ACM Transactions on Graphics 34 (6), 1-9. https://doi.org/10.1145/2816795.2818137 | es_ES |
dc.description.references | Murray IV, T. J., Pham, B. N., Pirjanian, P., May 3 2005. Hardware abstraction layer for a robot. US Patent 6,889,118. | es_ES |
dc.description.references | Peidró, A., Tavakoli, M., Mar'ın, J. M., Reinoso, O., may 2019. Design of compact switchable magnetic grippers for the HyReCRo structure-climbing robot. Mechatronics 59, 199-212. https://doi.org/10.1016/j.mechatronics.2019.04.007 | es_ES |
dc.description.references | Peters, G., Pagano, D., Liu, D., Waldron, K., aug 2010. A prototype climbing robot for inspection of complex ferrous structures. In: Emerging Trends in Mobile Robotics. World Scientific. https://doi.org/10.1142/9789814329927_0020 | es_ES |
dc.description.references | Prados, C., Buonocore, L. R., Castro, M. D., jul 2021. Omnidirectional robotic platform for surveillance of particle accelerator environments with limited space areas. Applied Sciences 11 (14), 6631. https://doi.org/10.3390/app11146631 | es_ES |
dc.description.references | Qiaoling, D., Yan, L., Sinan, L., 2019. Design of a micro pole-climbing robot. International Journal of Advanced Robotic Systems 16 (3), https://doi.org/10.1177/1729881419852813 | es_ES |
dc.description.references | Raibert, M., Blankespoor, K., Nelson, G., Playter, R., 2008. BigDog, the roughterrain quadruped robot. IFAC Proceedings Volumes 41 (2), 10822-10825. https://doi.org/10.3182/20080706-5-KR-1001.01833 | es_ES |
dc.description.references | Roennau, A., Heppner, G., Nowicki, M., Dillmann, R., jul 2014. LAURON v: A versatile six-legged walking robot with advanced maneuverability. In: 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. IEEE. https://doi.org/10.1109/AIM.2014.6878051 | es_ES |
dc.description.references | Schmidt, D., Berns, K., dec 2013. Climbing robots for maintenance and inspections of vertical structures-a survey of design aspects and technologies. Robotics and Autonomous Systems 61 (12), 1288-1305. https://doi.org/10.1016/j.robot.2013.09.002 | es_ES |
dc.description.references | Sombolestan, M., Chen, Y., Nguyen, Q., 2021. Adaptive force-based control for legged robots. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, pp. 7440-7447. https://doi.org/10.1109/IROS51168.2021.9636393 | es_ES |
dc.description.references | Sprowitz, A., Pouya, S., Bonardi, S., Kieboom, J. V. D., Mockel, R., Billard, A., Dillenbourg, P., Ijspeert, A. J., aug 2010. Roombots: Reconfigurable robots for adaptive furniture. IEEE Computational Intelligence Magazine 5 (3), 20- 32. https://doi.org/10.1109/MCI.2010.937320 | es_ES |
dc.description.references | Spr¨owitz, A., Moeckel, R., Vespignani, M., Bonardi, S., Ijspeert, A., jul 2014. Roombots: A hardware perspective on 3d self-reconfiguration and locomotion with a homogeneous modular robot. Robotics and Autonomous Systems 62 (7), 1016-1033. https://doi.org/10.1016/j.robot.2013.08.011 | es_ES |
dc.description.references | Tan, K. C., Wang, L., Lee, T. H., Vadakkepat, P., jul 2006. Evolvable hardware in evolutionary robotics. In: World Scientific Series in Robotics and Intelligent Systems. World Scientific, pp. 33-62. https://doi.org/10.1142/9789812773142_0002 | es_ES |
dc.description.references | Tanaka, Y., Shirai, Y., Lin, X., Schperberg, A., Kato, H., Swerdlow, A., Kumagai, N., Hong, D., 2022. Scaler: A tough versatile quadruped free-climber robot. arXiv preprint arXiv:2207.01180. https://doi.org/10.1109/IROS47612.2022.9981555 | es_ES |
dc.description.references | Tavakoli, M., Viegas, C., Marques, L., Pires, J. N., de Almeida, A. T., sep 2013. OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures. Robotics and Autonomous Systems 61 (9), 997-1007. https://doi.org/10.1016/j.robot.2013.05.005 | es_ES |
dc.description.references | Wang, M., Su, Y., Liu, H., Xu, Y., aug 2020. WalkingBot: Modular interactive legged robot with automated structure sensing and motion planning. In: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE. https://doi.org/10.1109/RO-MAN47096.2020.9223474 | es_ES |
dc.description.references | Yim, M., Zhang, Y., Duff, D., feb 2002. Modular robots. IEEE Spectrum 39 (2), 30-34. https://doi.org/10.1109/6.981854 | es_ES |
dc.description.references | Yoshida, Y., Ma, S., dec 2010. Design of a wall-climbing robot with passive suction cups. In: 2010 IEEE International Conference on Robotics and Biomimetics. IEEE. https://doi.org/10.1109/ROBIO.2010.5723554 | es_ES |