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006
Publications

2021

Open Hardware and Software Robotics Competition for Additional Engagement in ECE Students - The Robot@Factory Lite Case Study

Authors
Pinto, VH; Sousa, A; Lima, J; Gonçalves, J; Costa, P;

Publication
Lecture Notes in Electrical Engineering - CONTROLO 2020

Abstract

2021

Robust human position estimation in cooperative robotic cells

Authors
Amorim, A; Guimares, D; Mendona, T; Neto, P; Costa, P; Moreira, AP;

Publication
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING

Abstract
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a major concern when humans and robots share the same workspace. Many times, this is due to the lack of a reliable estimation of the human pose in space which is the primary input to calculate the human-robot minimum distance (required for safety and collision avoidance) and HRI/C featuring machine learning algorithms classifying human behaviours / gestures. Each sensor type has its own characteristics resulting in problems such as occlusions (vision) and drift (inertial) when used in an isolated fashion. In this paper, it is proposed a combined system that merges the human tracking provided by a 3D vision sensor with the pose estimation provided by a set of inertial measurement units (IMUs) placed in human body limbs. The IMUs compensate the gaps in occluded areas to have tracking continuity. To mitigate the lingering effects of the IMU offset we propose a continuous online calculation of the offset value. Experimental tests were designed to simulate human motion in a human-robot collaborative environment where the robot moves away to avoid unexpected collisions with de human. Results indicate that our approach is able to capture the human's position, for example the forearm, with a precision in the millimetre range and robustness to occlusions.

2021

Modeling of an Elastic Joint: An Experimental Setup Approach

Authors
Pinto, VH; Lima, J; Gonçalves, J; Costa, P;

Publication
Lecture Notes in Electrical Engineering - CONTROLO 2020

Abstract

2021

Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

Authors
Pinto, VH; Goncalves, J; Costa, P;

Publication
Actuators

Abstract
This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle’s locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system’s stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system’s design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

2021

Model of a DC Motor with Worm Gearbox

Authors
Pinto, VH; Gonçalves, J; Costa, P;

Publication
Lecture Notes in Electrical Engineering - CONTROLO 2020

Abstract

Supervised
thesis

2020

Desenvolvimento de um sistema de gestão de consumo de energia elétrica para iluminação pública baseado num sistema de Energy Harvesting

Author
Alexandre Costa de Oliveira

Institution
UP-FEUP

2020

Haptic System for Teaching Manipulators

Author
Afonso Raposo Pereira

Institution
UP-FEUP

2020

iHandU Simulator - Towards a medical education tool for wrist rigidity assessment

Author
José João Serra de Brito Limpo Trigueiros

Institution
UP-FEUP

2020

Sensory fusion of UBW-TOF-based location systems for mobile robotics

Author
Tiago Miguel Regallo Soares

Institution
UP-FEUP

2020

Hybrid Legged-Wheeled Locomotion System for Robotic Vehicles

Author
Vítor Hugo Machado Oliveira Pinto

Institution
UP-FEUP