Conferencia III Jornadas de Investigación de la Facultad de Ingeniería, Facultad de Ingeniería, UCR Fecha: 28/10/2021 Artículo en la Revista de Ingeniería, volumen 32 NES (2022) Enlace de la revista En este trabajo se explica la construcción y ensamblado del cuerpo completo del robot humanoide del ARCOS-Lab

Conferencia I Jornadas de Investigación en Ingeniería, Facultad de Ingeniería, UCR Fecha: 18/10/2019 🦾 Abstract ARCOS-Lab is currently building a whole body humanoid robot, capable to manipulate objects skillfully, in a complex and uncontrolled environment. To achieve that, the robot has an omnidirectional mobile base, a mobile torso that supports two KUKA LWR 4+ robotic arms with 7 degrees of freedom, and a robotic hand with 5 fingers; the arms and the hand have a smooth control called impedance control, that will allow the robot to perceive external forces, giving the robot an advantage to manipulation tasks. Also, to perceive the objects in different ways, the robot has a head with two high resolution cameras, a Kinect V2.0 and a thermal camera; the head also has an emotional face structure based on eyebrows, ears, a mouth and two LED matrices to give the robot the capability to show emotions and better interact with the people. Our robot is pretending to work on different scenarios, one of them is a smart kitchen, which is an important challenge because the complexity needed to develop tasks like cooking. Other of the scenarios is a warehouse environment where the robot will be an assistant, giving equipment and tools to the operators, or even helping them to assembly some product, working on a collaborative way. In this paper we will explain the different parts that our robot is composed of. We will describe the design and construction process and also many of the challengues encounter during its development. ...

Conferencia IEEE International Work Conference on Bioinspired Intelligence (IWOBI) Fecha: 20/07/2018 Enlace del artículo 🦾 Abstract A robot that will execute everyday object manipulation tasks needs a competent body that can handle as many different objects as possible in as many ways as possible. To accomplish this, we must design the robot body in such a way that will allow it to achieve many different ways to manipulate the objects. In this work, we present a design method to mount a two-arm assembly in a torso and a mobile base (to complete a humanoid robot) taking into account a voxelized structure of points to reach and a variable orientation and relative position of both arms. We make use of the concept of capability maps to calculate a score for different possible two-arm assembly placements. An object to manipulate is selected. In particular, we are using the object size as the most important manipulation feature. We test many possible arm mounting configurations with many different object positions and we run an object reaching simulation for each of these combinations. The successfulness of each of these trails is used to derive a capability map. A score for each map (that corresponds to a different arm mounting configuration) is derived and used to select the final placement of the robot. With this work, we present an effective process to determine the best arms bases placement accord to the collaborative reaching results for a two-arm humanoid robot. DOI: 10.1109/IWOBI.2018.8464192 ...