The objective of this research line is to develop advanced mobile manipulators able to operate in human environments. Manfred integrates perception, control, local and global planning in order to cope with a wide spectrum of typical tasks required for a s
The main objective of Manfred Mobile Manipulator is the development of new capabilities to operate into the environment. The development of a new sensor-based planning and control architecture will allow the integration of sensor information coming from a laser scan, vision and a force/torque sensor. To reach this aim efficiently three complementary goals are required:
1. The functional architecture integrates perception, control, local and global planning in order to the mobile manipulator can cope with a wide spectrum of typical tasks required for a service robot operating in indoor environments (displacement in not cluttered areas, displacement in cluttered areas, door opening and collaboration with humans in the transport of a simple object). The architecture will be based on external sensor feedback for interaction control and sensor based local planning to achieve a proper combination of reactivity to environment and smoothness in interaction control with objects.
2. The interaction control system is based on a sensorial feedback of an impedance control. By introducing the positional error between the arm end effector and the object as sensor feedback in the impedance control loop, the tolerance to position uncertainty of the mobile manipulator will be improved considerably. The force control strategy will be based on an impedance control due to the object to manipulate are not exactly the same and the task will be sporadically done.
3. The perception system is based on a laser scanner (2D and 3D) and vision (one in hand and a frontarl camera) used to solve the displacements and approximation problems, and a vision system will be used to estimate the positional error during the interaction task.
J. V.Gómez; S.Garrido; L.Moreno; A.Vale; F.Valente; J.Ferreira. 2nd Workshop on Fusion Technologies and the Contribution of TECHNOFUSIÓN. Chapter: Performance Study of the FM2 Planning Method for Remote Handling Operations in ITER. pp.0-0. ISBN: 978-84-695-6616. Sección de Publicaciones de la UC3M. 2012.
C.Castejon; D.Blanco; B.L.Boada; L.Moreno. Innovations in Robot Mobility and Control. Chapter: Voronoi-based outdoor traversable region modelling. pp.201-250. ISBN: 3-540-26892-8. Springer-Verlag. 2005.
B.L.Boada; D.Blanco; L.Moreno. Symbolic Place Recognition in Voronoi-based maps by Using Hidden Markov Models. Journal of Intelligent and Robotic Systems. Vol. 39. No. . pp.173-197. 2004.
D.Álvarez; A.Lumbier; J. V.Gómez; S.Garrido; L.Moreno. Precision Grasp Planning Based on Fast Marching Square.
. IEEE/RSJ 21st Mediterranean Conference on Control and Automation (MED) 2013.. Platanias-Chani. Greece. Jun, 2013.
J. V.Gómez; D.Álvarez; S.Garrido; L.Moreno. Kinesthetic Teaching via Fast Marching Square. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vila Moura. Portugal. Oct, 2012.
J. G. Bueno; P.Jurewicz; N.Burrus; L.Moreno. J.Garcia Bueno.; P.Jurewicz; N.Burrus; L.Moreno; M. Abderrahim: Robust
Pedestrian Detection using a Time-Of-Flight Camera. 8o Wokshop Robo-
city2030. Robots de exteriores. Madrid. Dic, 2010.. . . . Dec, 2010.
F.Martín; C.G.Uzcátegui; L.Moreno; D.Blanco. Accelerated Localization in Noisy 3D Environments using
Differential Evolution. The 2010 International Conference on Genetic and Evolutionary Methods. Las Vegas. USA. Jul, 2010.
C.G.Uzcátegui; D.Blanco; L.Moreno. Optimum Robot Manipulator Path Generation using Differential Evolution. IEEE Congress on Evolutionary Computation, CEC’09. Trondheim. Noruega. May, 2009.
D.Blanco; C.Castejon; S.Kadhim; L.Moreno. Predesign of an Anthropomorphic Lightweight Manipulator. 8th International Conference on Climbing and Walking Robots and the support Technologies for Mobile Machines (CLAWAR 2005). London. U.K.. Sep, 2005.
C.Castejon; D.Blanco; B.L.Boada; L.Moreno. Voronoi Extraction of Free-way Areas in Cluttered Environments. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2005). Edmonton. Canada. Aug, 2005. . ISBN: 0-7803-8913-1. . pp.0-0. 0000.
D.Fernández; L.Moreno; J.Baselga. Electroactive Polymer Actuator design for space applications. 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation
ASTRA 2004. ESTEC, Noordwik. Netherlands. Nov, 2004.
E.Dapena; L.Moreno. Probability of success and uncertainty analysis in Path Planning
. IEEE International Conference on Robotics and Automation, ICRA 2003. Taipei. Taiwan. Sep, 2003.