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006
Publications

2022

Realistic 3D Simulation of a Hybrid Legged-Wheeled Robot

Authors
Soares, IN; Pinto, VH; Lima, J; Costa, P;

Publication
ROBOTICS FOR SUSTAINABLE FUTURE, CLAWAR 2021

Abstract
In order to study the behavior and performance of a robot, building its simulation model is crucial. Realistic simulation tools using physics engines enable faster, more accurate and realistic testing conditions, without depending on the real vehicle. By combining legged and wheeled locomotion, hybrid vehicles are specially useful for operating in different types of terrains, both indoors and outdoors. They present increased mobility, versatility and adaptability, as well as easier maneuverability, when compared to vehicles using only one of the mechanisms. This paper presents the realistic simulation through the SimTwo simulator software of a hybrid legged-wheeled robot. It has four 3-DOF (degrees of freedom) legs combining rigid and non-rigid joints and has been fully designed, tested and validated in the simulated environment with incorporated dynamics. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

2022

Design and Modelling of a Modular Robotic Joint

Authors
Rocha, M; Pinto, VH; Lima, J; Costa, P;

Publication
ROBOTICS FOR SUSTAINABLE FUTURE, CLAWAR 2021

Abstract
The industry tends to increasingly automate as many processes as possible, and to make this possible, they often resort to the use of robotic arms. This paper presents the development of a proposal for a modular joint for robotic arms that allows: to obtain the best possible torque/weight ratio; to be controlled in speed and/or position; to communicate with other joints and external microcontrollers; to keep the cost as low as possible; and to be easily reconfigurable. The proposed prototype was validated with real results. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

2022

A kinesthetic teaching approach for automating micropipetting repetitive tasks

Authors
Rocha, C; Dias, J; Moreira, AP; Veiga, G; Costa, P;

Publication
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY

Abstract

2022

Systematic Mapping Literature Review of Mobile Robotics Competitions

Authors
Brancaliao, L; Goncalves, J; Conde, MA; Costa, P;

Publication
SENSORS

Abstract
This paper presents a systematic mapping literature review about the mobile robotics competitions that took place over the last few decades in order to obtain an overview of the main objectives, target public, challenges, technologies used and final application area to show how these competitions have been contributing to education. In the review we found 673 papers from 5 different databases and at the end of the process, 75 papers were classified to extract all the relevant information using the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) method. More than 50 mobile robotics competitions were found and it was possible to analyze most of the competitions in detail in order to answer the research questions, finding the main goals, target public, challenges, technologies and application area, mainly in education.

2022

OptiOdom: a Generic Approach for Odometry Calibration of Wheeled Mobile Robots

Authors
Sousa, RB; Petry, MR; Costa, PG; Moreira, AP;

Publication
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

Abstract
Odometry calibration adjusts the kinematic parameters or directly the robot's model to improve the wheeled odometry accuracy. The existent literature considers in the calibration procedure only one steering geometry (differential drive, Ackerman/tricycle, or omnidirectional). Our method, the OptiOdom calibration algorithm, generalizes the odometry calibration problem. It is developed an optimization-based approach that uses the improved Resilient Propagation without weight-backtracking (iRprop-) for estimating the kinematic parameters using only the position data of the robot. Even though a calibration path is suggested to be used in the calibration procedure, the OptiOdom method is not path-specific. In the experiments performed, the OptiOdom was tested using four different robots on a square, arbitrary, and suggested calibration paths. The OptiTrack motion capture system was used as a ground-truth. Overall, the use of OptiOdom led to improvements in the odometry accuracy (in terms of maximum distance and absolute orientation errors over the path) over the existent literature while being a generalized approach to the odometry calibration problem. The OptiOdom and the methods from the literature implemented in the article are available in GitHub as an open-source repository.

Supervised
thesis

2021

Novos processos de gestão logística na indústria de equipamentos eletrónicos

Author
Luís Simões Neves

Institution
UP-FEUP

2021

INTEGRAÇÃO DO PLANEAMENTO DO PROJETO NO PLANEAMENTO DA PRODUÇÃO EM CONTEXTO INDUSTRIAL

Author
JULIANA FILIPA BASTOS SILVA

Institution
IPP-ISEP

2021

Simulation and Planning of a 3D Spray Painting Robotic System

Author
João Marcelo Casanova Almeida Tomé Santos

Institution
UP-FEUP

2021

Towards Personalized In-Silico Mathematical Models and Tools for Brain Networks Simulations and Study of Optimal Therapeutic Approaches for Refractory Epilepsy

Author
Elodie Múrias Lopes

Institution
UP-FEUP

2021

Enhancing Privacy On Smart City Location Sharing

Author
Luís Miguel dos Santos Magalhães

Institution
UP-FCUP