Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
8050534 | Revista Iberoamericana de Automática e Informática Industrial RIAI | 2017 | 10 Pages |
Abstract
This paper aims to describe Lázaro, which is a small mobile robot that has an arm designed especially to provide an additional contact point with the ground that can be used to improve the tipover stability and to overcome obstacles. Specifically, the description of the mechanical structure and electronic components for perception, communication and control is discussed. Subsequently, the operating characteristics of the robot are reviewed in terms of kinematics, control architecture, operating modes and interface. Finally, a description of some performance tests is presented.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Jesús M. GarcÃa, Itza J. Medina, Jorge L. MartÃnez, Alfonso GarcÃa-Cerezo, Alonzo Linares, Cristian Porras,