Engenharia de Robôs
URI Permanente desta comunidade
Navegar
Navegando Engenharia de Robôs por Autor "HOMEM, T. P. D."
Agora exibindo 1 - 3 de 3
Resultados por página
Opções de Ordenação
Artigo de evento Hardware and software aspects of the design and assembly of a new humanoid robot for RoboCup soccer(2014-10-23) PERICO, D. H.; SILVA, I. J.; VILAO, C. O.; HOMEM, T. P. D.; DESTRO. R. C.; Flávio Tonidandel; Reinaldo Bianchi© 2014 IEEE.This paper describes the design and development of a new humanoid robot named Newton, that is intended for applications in research and also to be used in the Robo Cup Kid Size League World Competition. Newton robot has been designed to work without any dedicated sub-controller implemented in low level hardware, often used to control the servomotors of the robot. Newton uses only a standard personal computer to do all processing and control necessary by the robot. To be able to deal with all the tasks involved in the robotic soccer domain, a new software architecture is proposed. This architecture is based on the hybrid paradigm, involving sensing, decision, planning, low level control, localization and communication. Preliminary tests show that the robot can walk properly while it performs tasks like finding the ball in an unknown position or positioning itself at the ball for kicking, exhibiting a very good performance.Artigo de evento Humanoid robot gait on sloping floors using reinforcement learning(2016-01-05) SILVA, I. J.; PERICO, D. H.; HOMEM, T. P. D.; VILAO, C. O.; Reinaldo Bianchi; Flavio Tonidandel© Springer International Publishing AG 2016.Climbing ramps is an important ability for humanoid robots: ramps exist everywhere in the world, such as in accessibility ramps and building entrances. This works proposes the use of Reinforcement Learning to learn the action policy that will make a robot walk in an upright position, in a lightly sloped terrain. The proposed architecture of our system is a two-layer combination of the traditional gait generation control loop with a reinforcement learning component. This allows the use of an accelerometer to generate a correction for the gait, when the slope of the floor where the robot is walking changes. Experiments performed on a real robot showed that the proposed architecture is a good solution for the stability problem.Artigo de evento Newton: A high level control humanoid robot for the robocup soccer kidsize league(2015-01-05) PERICO, D. H.; SILVA, I. J.; VILAO JUNIOR, C. O.; HOMEM, T. P. D.; DESTRO, R. C.; Flavio Tonidandel; Reinaldo Bianchi© Springer-Verlag Berlin Heidelberg 2015.One of the goals of humanoid robot researchers is to develop a complete – in terms of hardware and software – artificial autonomous agent able to interact with humans and to act in the contemporary world, that is built for human beings. There has been an increasing number of humanoid robots in the last years, including Aldebaran’s NAO and Romeo, Intel’s Jimmy and Robotis’ DARwIn-OP. This research article describes the project and development of a new humanoid robot named Newton, made for research purposes and also to be used in the RoboCup Soccer KidSize League Competition. Newton robot’s contributions include that it has been developed to work without a dedicated microcontroller board, using an four-by-four-inch Intel NUC board, that is a fully functioning PC. To work with this high level hardware, a new software architecture comprised of completely independent processes was proposed. This architecture, called Cross Architecture, is comprised of completely independent processes, one for each intelligent system required by a soccer player: Vision, Localization, Decision, Communication, Planning, Sense and Acting, besides having a process used for managing the others. The experiments showed that the robot could walk, find the ball in an unknown position, recover itself from a fall and kicking the ball autonomously with a good performance.