Listar Memoria en extenso por autor "Lavrenov, Roman"
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Dynamic modelling and control of an underactuated Klann-based hexapod
Martinez Garcia, Edgar Alonso (IEEE, 2019-10-10)This work discloses the dynamic control model of a hexapod robot with tripod-based walking gait. The proposed walking model is based on the Klann linkage and three main actuators to provide quasi-omnidirectional mobility. ... -
Evaluation of Visual SLAM Methods in USAR Applications Using ROS/Gazebo Simulation
Martinez-Garcia, Edgar (Springer, 2020-09-02)The problem of determining the position of a robot and at the same time building the map of the environment is referred to as SLAM. A SLAM system generally outputs the estimated trajectory (a sequence of poses) and the ... -
Improving model of crawler robot Servosila ”Engineer” for simulation in ROS/Gazebo
Martinez-Garcia, Edgar (eSystems Engineering Society, 2020-12-14)Crawler robots are popular in tasks of urban search and rescue. Because of using tracks most of these robots have good traversability on rough terrains. For creating and testing these abilities and crawler robot itself ... -
Robot arm planning and control by tau-Jerk theory and vision-based recurrent ANN observer
Martinez-Garcia, Edgar (IEEE, 2021-05-26)This work describes a planning path-tracking control for a 6-axis robot manipulator in palettes assembly. Two biologically inspired approaches motivated this work: the general τ -J erk theory for trajectory tracking and a ...