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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics
Edwar Jacinto
Universidad Distrital Francisco José de Caldas
Computer Science & IT Electrical & Electronics Engineering

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Obstacle detection for autonomous systems using stereoscopic images and bacterial behaviour Fredy Martinez; Edwar Jacinto; Fernando Martinez
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 2: April 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1240.044 KB) | DOI: 10.11591/ijece.v10i2.pp2164-2172

Abstract

This paper presents a low cost strategy for real-time estimation of the position of obstacles in an unknown environment for autonomous robots. The strategy was intended for use in autonomous service robots, which navigate in unknown and dynamic indoor environments. In addition to human interaction, these environments are characterized by a design created for the human being, which is why our developments seek morphological and functional similarity equivalent to the human model. We use a pair of cameras on our robot to achieve a stereoscopic vision of the environment, and we analyze this information to determine the distance to obstacles using an algorithm that mimics bacterial behavior. The algorithm was evaluated on our robotic platform demonstrating high performance in the location of obstacles and real-time operation.
Hybrid fuzzy-sliding grasp control for underactuated robotic hand Fredy Martinez; Holman Montiel; Edwar Jacinto
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 17, No 4: August 2019
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v17i4.12678

Abstract

A major part of the success of human-robots integration requires the development of robotic platforms capable of interacting in human environments. Human beings have an environment designed for their physical and morphological capacity, robots must adapt to these conditions. This paper presents a fuzzy-sliding hybrid grasp control for a five-finger robotic hand. As a design principle, the scheme takes into account the minimum force required on the object to prevent the object from slipping. The robotic hand uses force sensors on each finger to determine the grasp state. The control is designed with two control surfaces, one when there is slippage, the other when there is no slippage. For each surface, control rules are defined and unified by means of a fuzzy inference block. The proposed scheme is evaluated in the laboratory for different objects, which include spherical and cylindrical elements. In all cases, an excellent grasp was observed without producing deformations in the fragile objects.
Using bacterial interaction and stereoscopic images for the location of obstacles on autonomous robots Fredy Martinez; Edwar Jacinto; Fernando Martínez
Bulletin of Electrical Engineering and Informatics Vol 9, No 3: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (716.391 KB) | DOI: 10.11591/eei.v9i3.2012

Abstract

Service robots are characterized by autonomously performing indoor tasks in unstructured environments, this condition of the environment prevents the prior programming of the map, which requires reactive behavior. These robots require real-time and cost-effective identification of obstacles in the environment, which includes not only distance information, but also depth information. This paper shows a strategy to estimate the position of obstacles in unknown environments. This strategy is characterized by low computational cost and real-time operation. The environments are selected because they are those usual to human beings, and this also influences our design, since we look for functional and morphological equivalence with human beings. This equivalence corresponds to the installation of two cameras in our robotic platform to form a stereoscopic system equivalent to the human. The images captured simultaneously are analyzed by a bacterial interaction scheme to define points on the obstacles. Our strategy showed a high performance in controlled environments. The scheme was able to establish distances to different points of the obstacle with 95% accuracy for distances between 0.8 and 2 m.
Co-Authors Fernando Martinez Fredy Martinez Holman Montiel