Article information
Resumen
Este artículo presenta una arquitectura de control modular que permite realizar tareas de manipulación en entornos cotidianos a un robot diseñado para ello. Dicho robot integra una plataforma móvil, un brazo redundante articulado, y diferentes tipos de sensores incluyendo visión. Un control de impedancia velocidad/fuerza, que permite la ejecución de una gran variedad de tareas mediante el formalismo denominado TFF (i.e. Task Frame Formalism) ha sido implementado de modo satisfactorio. Las distintas tareas son representadas como una red de habilidades básicas que son ejecutadas por el robot usando el control de impedancia. Diferentes mecanismos para la transición entre habilidades de acuerdo al estado perceptual del robot han sido definidos. La validez experimental de nuestro enfoque es demostrada mediante el Robot de Servicios de la UJI, Jaume-2, realizando una tarea cotidiana como es abrir una puerta. Finalmente, este nuevo marco es aplicado para progresar en la nueva versión del Robot Bibliotecario de la UJI, demostrando una gran habilidad en el modo en que el robot manipula libros.
Palabras Clave:
manipulación
arquitecturas de control
robótica de servicios
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