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This paper presents one methodology for teaching engineering students, which relies on open platform requiring basic knowledge of robotics, like mechanics, control or energy management. Walking robots are well known for being able to walk over rough terrain and adapt to various environments. Hexapod robots are chosen because of their better stabili...
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Context 1
... provides the top view of leg motion in x, y coordinates and the other the Z axis. The θ1 can obtain by inverse tangent function as shown in figure 3 this approach can be verify from [10,11] and book reference [14]. ...
Context 2
... length of the leg is the hypotenuse of the triangle in figure 3, and it can be calculated by using Pythagorean Theorem. ...
Context 3
... µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿ ℎ í µí±í µí±í µí±í µí± í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿ = �í µí±¥í µí±¥ 2 + í µí±¦í µí±¦ 2 (9) Figure 3 represents the side view of a leg in y, z coordinates and θ2 and θ3, the resultant vector 'a' divides the total angle between the lines L 3 and L 1 +Length of leg into two angle and its magnitude can be given by: í µí±í µí± = �(í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿ ℎ í µí±í µí±í µí±í µí± í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿í µí°¿ − í µí°¿í µí°¿ 1 ) 2 + í µí±í µí± 2 (10) ϕ1 is the angle between L 2 and resultant vector 'a', and ϕ4 is present among the perpen- dicular line on y axis and resultant vector 'a', than we can determine θ2 as: ...
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Stability of running on rough terrain depends on the propagation of perturbations due to the ground. We consider stability within the sagittal plane and model the dynamics of running as a two-dimensional body with an alternating aerial and stance phase. Stance is modeled as a passive, impulsive collision followed by an active, impulsive push-off th...
Citations
... This study concludes that unlike the fastest but very unstable tripod gait, wave gait is the strongest and stable alternative. Some other ways of minimizing the power consumption is by observing animals in nature and applying the same methods of mobility for robots [21]. The study lacks a comparison based on the number of foot robots. ...
... To test and demonstrate the system functionality similar to others works, 41,42 we run a test with two users aged between 50 and 60 years. We setup a scenario with two persons sitting in chairs and three medicines (Bisoltussin, Mirtazapine Psidep, and Claritine) packaging stored on a black shelf in front of the robot (Figure 11). ...
This article proposes a robotic system that aims to support the elderly, to comply with the medication regimen to which they are subject. The robot uses its locomotion system to move to the elderly and through computer vision detects the packaging of the medicine and identifies the person who should take it at the correct time. For the accomplishment of the task, an application was developed supported by a database with information about the elderly, the medicines that they have prescribed and the respective timetable of taking. The experimental work was done with the robot NAO, using development tools like MySQL, Python, and OpenCV. The elderly facial identification and the detection of medicine packing are performed through computer vision algorithms that process the images acquired by the robot’s camera. Experiments were carried out to evaluate the performance of object recognition, facial detection, and facial recognition algorithms, using public databases. The tests made it possible to obtain qualitative metrics about the algorithms’ performance. A proof of concept experiment was conducted in a simple scenario that recreates the environment of a dwelling with seniors who are assisted by the robot in the taking of medicines.
... Robotics courses deal with kinematics, dynamics and control of manipulators [1], but it is fundamental to involve students in the construction and development of robotic platforms, and in project-oriented learning in order to forest creative and divergent thinking, and promote acquisition of self-learning and practical skills [2]. For this reason the use of a robotic teaching platform allows the students a fast understanding of the theoretical topics, and the use of open platform allows students to easily evolve acquired knowledge for project-based learning [3][4][5][6][7][8][9][10][11]. In this paper, we will focus autonomous driving with the aim of participating in the autonomous driving competition in the National Festival of Robotics in Portugal. ...
This paper presents the construction of an autonomous robot to participating in the autonomous driving competition of the National Festival of Robotics in Portugal, which relies on an open platform requiring basic knowledge of robotics, like mechanics, control, computer vision and energy management. The projet is an excellent way for teaching robotics concepts to engineering students, once the platform endows students with an intuitive learning for current technologies, development and testing of new algorithms in the area of mobile robotics and also in generating good team-building.
... The problem-based learning model used in this paper, follows the described in [12], summarizes the steps that students take to solve a problem under PBL methodology. The desired problem scenario is presented and the students perform the following steps: ...
... Students know that the hexacopter position control is achieved by means of the electrical motors velocity control. Each set electric motor/propeller will produce an upward force while thrusting the air downwards [11][12][13][14]. Since those generated forces are not aligned with the center of gravity, a differential force can be generated to rotate the hexarotor aircraft. ...
This paper describes a project-based learning example used to promote academic success on electrical engineering, BSc and MSc degrees. The project aims to implement an aerial drone devoted to environmental surveillance, through identification and prevention of forest fires, effects of floods, and industrial flammable gases leaks to the atmosphere using an extensive set of gas sensors. The project was carried out using a hexacopter drone platform and combines knowledge of different areas, namely electronics, communications, and instrumentation. The wireless transmission of the acquired data is the main focus of the project. The results obtained from this project-based learning educational experience show that a practical-learning approach usage in conjunction with highly motivating topics promotes academic success and improves the understanding of theoretical concepts. Students increased their knowledge and skills during the problem resolution, and achieved a real solution according to their options. Moreover, this approach provides students an extensive learning experience on current technologies, modules and programming languages.
... It is important to present to the students and explain the relation between the numbers of encoder, how to calculate the linear distance performed by each wheel, and show how to calculate the orientation update values of , , that represent the pose of the robot, equations (8)(9)(10)(11)(12)(13) give the velocity relations of each wheel. ...
... The MATLAB® tool allows a quick construction of the model, and test of the proposed application. It is not a usual tool in the industry but it becomes essential for academic development when the students start to test their ideas and 5 algorithms, Figure 3 shows some examples of the MATLAB® application made by the students during class [11][12]. In this case, two main learning aspects can be benefited from the use of simulation tools in the context of an industrial robotics related subject: the robot control and modeling comprehension, and the acquisition of robot programming skills. ...
This article describes the development of architecture cloud-based for control different robotic platform to be used as an interdisciplinary teaching tool integrated in the curriculum. The results obtained with this educational approach for control robotic platform shown that a practical-learning approach usage in conjunction with highly motivating topics and promotes academic success and improves theoretical concepts comprehension. Students increased knowledge and skills during the problem resolution and achieved a real solution according their options. Moreover, this approach provides students an extensive learning experience on current technologies, architectures, modules and programming languages.
... The problem-based learning model used in this paper, follows the described in [12], summarizes the steps that students take to solve a problem under PBL methodology. The desired problem scenario is presented and the students perform the following steps: ...
... Students know that the hexacopter position control is achieved by means of the electrical motors velocity control. Each set electric motor/propeller will produce an upward force while thrusting the air downwards [11][12][13][14]. Since those generated forces are not aligned with the center of gravity, a differential force can be generated to rotate the hexarotor aircraft. ...
This paper describes a project-based learning example used to promote academic success on electrical engineering, BSc and MSc degrees. The project aims to implement an aerial drone devoted to environmental surveillance, through identification and prevention of forest fires, effects of floods, and industrial flammable gases leaks to the atmosphere using an extensive set of gas sensors. The project was carried out using a hexacopter drone platform and combines knowledge of different areas, namely electronics, communications, and instrumentation. The wireless transmission of the acquired data is the main focus of the project. The results obtained from this project-based learning educational experience show that a practical-learning approach usage in conjunction with highly motivating topics promotes academic success and improves the understanding of theoretical concepts. Students increased their knowledge and skills during the problem resolution, and achieved a real solution according to their options. Moreover, this approach provides students an extensive learning experience on current technologies, architectures, modules and programming languages.
