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Doctoral Thesis
DOI
https://doi.org/10.11606/T.3.2014.tde-13082015-114113
Document
Author
Full name
Reinaldo de Bernardi
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2014
Supervisor
Committee
Cruz, Jose Jaime da (President)
Coelho, Tarcisio Antonio Hess
Hirakawa, Andre Riyuiti
Martins Filho, Luiz de Siqueira
Tonidandel, Flavio
Title in Portuguese
KA'I yxo: uma plataforma robótica bioinspirada para aplicações em monitoramento ambiental.
Keywords in Portuguese
Controle motor bioinspirado
Geradores centrais de padrões
Monitoramento ambiental
Robôs bioinspirados
Robôs que escalam
Times assíncronos
Abstract in Portuguese
Este trabalho apresenta a concepção, o projeto, o desenvolvimento e a validação experimental de uma plataforma robótica bioinspirada o robô KA'I yxo com a habilidade de escalar árvores para aplicação em monitoramento ambiental. Tal motivação surgiu da necessidade crescente do estudo e do entendimento de ocorrências naturais pelas consequências envolvidas, muitas vezes trágicas. O monitoramento ambiental em larga escala e a dificuldade de acesso e cobertura de áreas significativas são fatores que indicam a importância e a utilidade de robôs nessas tarefas. O robô KA'I yxo possui como aplicação primeira uma solução para aquisição de dados de radiação solar, temperatura, umidade e altitude, de maneira que a mesma seja uma ferramenta útil para pesquisadores, aplicação esta identificada como relevante para a pesquisa na área ambiental após visitas ao Instituto Nacional de Pesquisas da Amazônia INPA. O desenvolvimento da plataforma robótica bioinspirada exposto nesta tese apresenta a sua evolução, desde a versão inicial do robô Kamanbaré (seis versões), até a versão atual da plataforma KAI yxo (terceira versão). Para esta última, são expostos em detalhes os modelos mecânico e matemático. No modelo mecânico, a importante questão da mobilidade é considerada. O modelo matemático construído compreende a cinemática direta, a cinemática inversa, a definição da andadura e a dinâmica do robô. O texto contém também uma apresentação detalhada das arquiteturas de controle, de software e de hardware. A utilização de Geradores Centrais de Padrões (CPGs) é justificada e discutida em detalhes. O ajuste dos parâmetros da CPG é realizado por meio de um processo de otimização baseado na técnica de Times Assíncronos (A-Teams). Resultados experimentais obtidos com a plataforma robótica são apresentados e discutidos.
Title in English
KA'I yxo: a bio-inspired robotic platform for environmental monitoring.
Keywords in English
Asynchronous teams
Bioinspired motor control
Bioinspired robots
Central pattern generators
Climbing robots
Environmental monitoring
Abstract in English
This work presents the conception, design, development and experimental validation of a bioinspired robotics platform the robot KA'I yxo with the ability to climb trees for use in environmental monitoring. Such motivation arose from the growing need of studying and understanding the consequences of natural occurrences involved, often tragic. Environmental monitoring in large scale and the difficulty of access and coverage areas are significant factors that indicate the importance and the usefulness of robots in these tasks. As a first application, the robot KA'I yxo represents a solution for data acquisition from solar radiation, temperature, humidity and altitude, so that it may be a useful tool for researchers. This application was identified as relevant to environmental research after visits to the National Institute of Amazonian Research INPA. The development of the bio-inspired robotics platform exposed in this thesis presents its evolution starting from the initial version of the robot Kamanbaré (six versions) and ending with the current version of KA'I yxo platform (third version). For the latter, the mechanical and mathematical models are exposed in details. In the mechanical model, the important issue of mobility is considered. The mathematical model constructed comprises the forward kinematics, the inverse kinematics, the definition of the gait and the dynamics of the robot. The text also contains a detailed presentation of the control, software and hardware architectures. The use of Central Pattern Generators (CPGs) is justified and discussed. The tuning of the CPG parameters is performed by an optimization process based on the Asynchronous Teams (ATeams) technique. Experimental results obtained with the robotic platform are presented and discussed.
 
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Publishing Date
2015-08-13
 
WARNING: The material described below relates to works resulting from this thesis or dissertation. The contents of these works are the author's responsibility.
  • BERNARDI, Reinaldo de, ANDRADE, M. T. C., and DA CRUZ, J.J. A Fuzzy Control Approach for a Tree Climbing Robotic Platform. In CLAWAR'2010 - 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Nagoya, Japão, 2010. Proceedings of CLAWAR'2010: 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines., 2010.
  • BERNARDI, Reinaldo de, POTTS, Alain Segundo, and DA CRUZ, J.J. An automatic modelling approach to mobile robots. In MATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling, Viena, 2009. Proceedings MATHMOD 09 Vienna., 2009.
  • POTTS, Alain Segundo, DA CRUZ, J.J., and BERNARDI, Reinaldo de. A quadratic programming approach to the minimum energy problem of a mobile robot. In ICINCO 2008 - Fifth International Conference on Informatics in Control, Automation and Robotics, Funchal, Madeira, Portugal, 2008. Proceedings of ICINCO 2008., 2008.
  • POTTS, Alain Segundo, DA CRUZ, J.J., and BERNARDI, Reinaldo de. An iterative algorithm to minimize loss energy in mobile robot. In 9th International Symposium on Robot Control (SYROCO'09), Gifu, Japão, 2009. Preprints of the 9th International Symposium on Robot Control (SYROCO'09)., 2009.
  • POTTS, Alain Segundo, DA CRUZ, J.J., e BERNARDI, Reinaldo de. A first analysis of convergence for an iterative algorithm to minimize loss energy in mobile robots. In XVII Congresso Brasileiro de Automática, Juiz de Fora, MG, 2008. Anais do XVII Congresso Brasileiro de Automática., 2008.
  • BERNARDI, Reinaldo de, and DA CRUZ, J.J. Kamanbaré - A tree-climbing biomimetic robtoci platform for environmental research. In Fourth International Conference on Informatics in Control, Automation and Robotics, Angers, 2007. Proceedings - Robotics and Automation., 2007.
  • BERNARDI, Reinaldo de, MAIA, J. M. F., and DA CRUZ, J.J. Development of a Photosynthetically Active Radiation Measurement Platform for the Kamanbaré Robot Mobile Robotics: Solutions and Challenges. In Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istambul, Turquia, 2009. Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. : World Scientific Publishing Co. Pte. Ltd., 2009.
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