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006
Publications

2022

A kinesthetic teaching approach for automating micropipetting repetitive tasks

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

Publication
The International Journal of Advanced Manufacturing Technology

Abstract

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.

Supervised
thesis

2021

Sensor Fusion for Mobile Robot Localization using UWB and ArUco Markers

Author
Silvia Dolores Nogueira Faria

Institution
UP-FEUP

2021

Sistema Inteligente de Deteção de Pessoas para Robôs Móveis Autónomos de Desinfeção

Author
Hugo Lima Mendonça

Institution
UP-FEUP

2021

Automatic State Estimation of an Over-Sensored Robotic Manipulator

Author
João Pedro Ribeiro Moreira

Institution
UP-FEUP

2021

ChemLab - Remote robotic Laboratory for teaching Chemistry

Author
Rui Manuel Pereira Coutinho

Institution
UP-FEUP

2021

Multi AGV Communication Failure Tolerant Industrial Supervisory System

Author
Ana Sofia Poças da Silva Cruz

Institution
UP-FEUP