HUMATRAN

Bioinspired balance of humanoid robots for transport tasks

Main researcher: S. Martinez

TEO balance

Description

The testbeds it will be possible to evaluate robot performance in a wide variety of situations
that could occur in the real world. This constitutes an advantage in the development
of balance controllers using bioinspired techniques, such as Neural Networks,
Fuzzy systems, etc. The data from experiments is applied in a behavior learning
process. The richer is the information used in this process, the better the
controller performance will be. The experiments will be carried out with the
humanoid robot REEM-C and the results will also be compared with the data
obtained with the humanoid robot TEO from the RoboticsLab research group. This
will enrich the final outcomes.  

The aim of this proposal is to implement and improve different bioinspired balance strategies and controllers while the humanoid robot performs a special manipulation task.
The behavior proposed consist of transport an object without grasping it, similar to a human waiter transporting objects on a tray. During the execution of this behavior a double balancing task must be performed. The robot must keep its own equilibrium meanwhile keeping the object on the tray, that is, preserving its equilibrium and its condition. 

Entries:
Remote Interaction with Mobile Robots
Autonomous Robots. num. 3 , vol. 15 , pages: 267 – 281 , 2003
A.M. Khamis M.A. Salichs
Software Architecture for Internet Mobile Robotics
Robotics and Machine Perception. SPIE. num. 1 , vol. 12 , pages: 7 – 11 , 2003
A.M. Khamis M.A. Salichs

Entries:
Sistema de Interacción Remota con Robots Móviles basado en Internet I
I Jornadas de Trabajo: Educación en Automática. DocenWeb: Red Temática de Docencia en Control mediante Web, 2004, Alicante, Spain
A.M. Khamis R. Barber M.A. Salichs
Sistema de Interaccion Remota conRobots Moviles via Internet
II Jornadas de Redes de Investigaci¶on en Docencia Uni-versitaria, 2004, Alicante, Spain
M.A. Salichs
Pattern-based Architecture for Building Mobile Robotics Remote Laboratories
IEEE International Conference on Robotics and Automation, Taipei, Taiwan
M. Rivero A.M. Khamis M.A. Salichs
Multiact Approach for Building Web-based Educational Environments: Mobile Robotics Course as a Case Study
The 11th Mediterranean Conference on Control and Automation, MED'03, Rhodes, Greece
A.M. Khamis M.A. Salichs
The Merging to eLearning in Mobile Robotics
15th IFAC World Congress on Automatic Control (b?02), Barcelona, Spain
A.M. Khamis M.A. Salichs
Laboratorio a Distancia via Internet en Robotica Móvil
III Jornada de Trabajo – Enseñanza Vía Internet/Web de la Ingeniería de Sistemas y Automática- EIWSA 2002, 2004, Alicante, Spain
A.M. Khamis M.A. Salichs
Design of a Remote Laboratory on Mobile Robots
Internet-based Control Eduaction, IBCE01, Madrid, Spain
A.M. Khamis M.A. Salichs
A Remote Laboratory for Teaching Mobile Robotics
IFAC Conference on Telematics Applications and Robotics (TA2001), 2001, Weingarten, Germany
A.M. Khamis M.A. Salichs
Teaching Mobile Robotics to Anyone, Anywhere at Anytime
1st. EURON Workshop on Robotics Education and Training RET 2001, 2001, Weingarten, Germany
A.M. Khamis M.A. Salichs
Sensorial Data Acquisition Process for a Mobile Robot in the Virtual Laboratory
International Workshop in Teleeducation in Mechatronics based on Virtual Laboratories, 2001, Weingarten, Germany
A.M. Khamis M.A. Salichs

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