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  • Centro de Automática y Robótica (CAR)
    underground dense forest deep valleys or in case of GPS signal jamming using light weight portable sensors IMU barometer magnetometer This Pedestrian Dead Reckoning PDR system can be applied to locate dismounted soldiers in GPS denied areas with an accuracy better than 0 3 of total travelled distance 3 meter error after a 1000 meter long path The system operates in real time is low cost and has an open architecture for integration and fusion with other external positioning sensors GPS RFID UWB ultrasound etc Fusing our inertial PDR solution with any of the above absolute external sensors provides a positioning device with an error that does not increase with the travelled distance see figure above left for a combined PDR RFID positioning system figure above right estimated trajectory Contact Dr Antonio Jiménez Ruiz antonio jimenez csic es Dr Fernando Seco Granja fernando seco csic es Reference to key publications A R Jiménez F Seco C Prieto J Guevara Indoor Pedestrian Navigation using an INS EKF framework for Yaw Drift Reduction and a Foot mounted IMU WPNC 2010 7th Workshop on Positioning Navigation and Comm March 11 12 2010 Dresden Germany A R Jiménez F Seco C Prieto J Guevara

    Original URL path: http://www.car.upm-csic.es/prototype.php?proto=43 (2015-08-08)
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  • Centro de Automática y Robótica (CAR)
    learning period is shortened and the modularity is increased by isolating the control software from the MAV technical specifics Thanks to a proxy based distributed architecture MAVs without network capabilities can be integrated in the system and different networked configurations are made possible Some application examples that are easily implemented with the proposed architecture are heterogeneous MAV swarms distributed processing of feedback signals MAV sharing among researchers onboard or off

    Original URL path: http://www.car.upm-csic.es/prototype.php?proto=44 (2015-08-08)
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  • Centro de Automática y Robótica (CAR)
    tele operated rover for a sample retrieval and return mission inside a lunar crater Strict constraints were imposed in order for the rovers to meet the payload capacity of ESA s Ariane launchers Technical challenge such as locomotion in a harsh environment steep slopes up to 40º fluid like terrain and communication and teleoperation without line of sight were to be addressed by the teams composed on Ph D and Master students under the supervision of a senior professor or researcher The rovers were tested during an intensive 8 days campaign in the Teide volcano in Tenerife Spain a scenario perfectly resembling lunar craters conditions Tech info Clearance LxWxH 120x100x60 cm stowed turret 120 cm Weight 60 Kg Powered by 4 independent 90W flat brushless DC motors Maxon motors Autonomy 1 Hour approx Manipulator sample storage 4 DoF Contact Claudio Rossi claudio rossi upm es Reference to key publications C Rossi et al The Moon Hound Lunar Rover 10th Workshop on Advanced Space Technologies for Robotics and Automation special session on the ESA Lunar Robotics Challenge ESA ESTEC Noordwijk The Netherlands 2008 F A W Belo A Birk C Brunskill F Kirchner V Lappas C D Remy S Roccella C

    Original URL path: http://www.car.upm-csic.es/prototype.php?proto=1 (2015-08-08)
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  • Centro de Automática y Robótica (CAR)
    leader going in or out a lane going across an intersection running in roundabouts and overtakings Besides AUTOPÍA allows to cooperate with the elements of the infrastructure as traffic lights or control stations AUTOPÍA s team has participated in the European GCDC celebrated in May 2011 in Holland Contact Dr Teresa de Pedro teresa pedro csic es Reference to key publications Milanés V Pérez J Onieva E González C Controller

    Original URL path: http://www.car.upm-csic.es/prototype.php?proto=2 (2015-08-08)
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  • Centro de Automática y Robótica (CAR)
    is supported by four legs where each leg provides three degrees of freedom in a cylindrical kinematic configuration Each of the legs is able to support a total load of more than 15 000 N and they are all able to carry the drilling unit and other auxiliary equipment onboard which lead to an overall weight of 4 tons ROBOCLIMBER can work by walking and even climbing uneven mountain slopes with inclination ranging from 30 to almost 90 and in this case it is being held from the top of the mountain by two steel ropes each of which is anchored to a certain distance from the other To develop a compact and reliable control system that is capable of running a large robot with high reasonable safety a suitable solution was to use double effect differential hydraulically powered cylinders in all robot joints as actuators which are controlled by means of proportional valves The hydraulic power unit 16 kW drilling equipment and control system are carried on the robot and the robot is supervised from a remote location with no need of operators onboard Contact Manuel A Armada manuel armada csic es Reference to key publications H Montes S

    Original URL path: http://www.car.upm-csic.es/prototype.php?proto=3 (2015-08-08)
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  • Centro de Automática y Robótica (CAR)
    see a 6DoF parallel joystick control device based on the same parallel mechanism that REMO I II 6 DoF Stewart Gough parallel mechanism in order to facilitate the teleoperation of this kind of underwater robots This makes it possible to apply the principle of vector navigation thrusting that we described above It is possible also the teleoperation of any other device up to six degrees of freedom Contact Roque Saltarén

    Original URL path: http://www.car.upm-csic.es/prototype.php?proto=4 (2015-08-08)
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  • Centro de Automática y Robótica (CAR)
    Camera for 3D Human Vision Perception There is a wide variety of video interfaces for 3D images visualization Choosing the best video interface depends on the telerobotic application requirements Simple monoscopic cameras are good enough for watching remote robot movements or for teleprogramming a sequence of commands However when operators seek precise robot guidance or wish to manipulate objects a better perception of the remote environment must be achieved for which more advanced visual interfaces are required This implies a higher degree of telepresence and therefore the most suitable visual interface has to be chosen The aim of this work is to describe the two main aspects using stereoscopic interfaces The capture of binocular video images according to the disparity limits in human perception and The proper selection of the visualization interface for stereoscopic images Contact Manuel Ferre m ferre upm es Reference to key publications Stereoscopic Human Interfaces Advanced Telerobotic Applications for Telemanipulation M Ferre R Aracil and M A Sanchez Uran IEEE Robotics Automation Magazine Vol 15 4 pp 50 57 12 2008 Stereoscopic video images for telerobotic applications Ferre M Aracil R Navas M JOURNAL OF ROBOTIC SYSTEMS Vol 22 3 pp 131 146 2005 Patent P9801372

    Original URL path: http://www.car.upm-csic.es/prototype.php?proto=5 (2015-08-08)
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  • Centro de Automática y Robótica (CAR)
    remote areas and secondly to reflect force interactions exerted by the robot during the manipulation to the operator There is a wide range of devices that can be used as the master for a teleoperated robot however significant differences exist among them Therefore proper characterization for the most suitable master devices for RH in ITER has to be done Main requirements for application of master slave systems in these kind of tasks are Large loads and high forces in manipulation tasks This condition requieres a significant scale between master and slave devices Predominant effect of the kinestatic component of force feedback versus the tactile component Therefore the operator executes power grasping palm and finger in spite of precise grasping two or three fingers Wide range for robot workspace It is required to implements the corresponding mechanisms in order to guarantee operator proprioception and thereby avoid procedures such as indexation Communication delays can be disregarded It allows movements to be transmitted as position or velocity commands other factors such as precision or workspace have to be taken into account in order to generate more precise robot trajectories Contact Manuel Ferre m ferre upm es Reference to key publications TechnoFusión a relevant

    Original URL path: http://www.car.upm-csic.es/prototype.php?proto=6 (2015-08-08)
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