Publication: Desarrollo e integración de mano robótica antropomórfica en el robot humanoide TEO
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2018-06-19
Defense date
2018-07-04
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Abstract
Este proyecto de fin de grado tiene como finalidad el desarrollo e integración de una mano robótica antropomórfica en el robot humanoide TEO. TEO es un robot asistente del hogar desarrollado en RoboticsLab, en la Universidad Carlos III de Madrid, cuyas manos robóticas actuales carecen de la funcionalidad necesaria para las tareas que requieren elevada destreza manual, como puede ser la manipulación de textiles. Partiendo de esta motivación, el presente documento comienza con el planteamiento completo del problema y finaliza con la valoración de la solución aportada. El alcance de los objetivos propuestos se consigue mediante el desarrollo y estudio de varias versiones de la mano seleccionada a nivel mecánico, electrónico y software. Se desarrollan experimentos para evaluar la eficacia de la mano robótica. Adicionalmente, se evalúa el marco regulador técnico y el entorno socio-económico del proyecto, de modo que este atienda satisfactoriamente a las restricciones establecidas y se encaje correctamente en el contexto social y económico actual.
Estas páginas exponen el proceso completo de desarrollo integración de las nuevas manos en el robot, lo cual forma parte de un proyecto que continuará de forma posterior a la defensa del trabajo, orientado a la ejecución de estudios adicionales en torno a su comportamiento en el humanoide, contemplando la expansión de las funciones de
TEO en relación a la versatilidad que le aportan sus nuevas manos.
This final degree project comprises the development and integration of an anthropomorphic robotic hand in the humanoid robot TEO. TEO is a household companion developed by RoboticsLab, at Carlos III University of Madrid, whose current robotic hands lack the necessary functionality for the tasks that require high manual dexterity, like fabric manipulation. Based on this motivation, this document begins with the approach of the problem and ends with the evaluation of the solution provided. the scope of the proposed objectives is achieved through the development and study of several versions of the selected hand at the mechanical, electronic and software level. Multiple experiments are developed to evaluate the effectiveness of the robotic hand. In addition, the regulatory technical framework and the socio-economic environment of the project are evaluated, so that it complies satisfactorily with the established restrictions and adjusts to the current social and economic context. These pages expose the complete development and integration process of the new hands, as part of a project that will continue after the defense of the work. The project is oriented to numerous additional studies around their behavior in the humanoid, contemplating the expansion of the TEO functions in relation to the versatility provided by his new fully functional hands.
This final degree project comprises the development and integration of an anthropomorphic robotic hand in the humanoid robot TEO. TEO is a household companion developed by RoboticsLab, at Carlos III University of Madrid, whose current robotic hands lack the necessary functionality for the tasks that require high manual dexterity, like fabric manipulation. Based on this motivation, this document begins with the approach of the problem and ends with the evaluation of the solution provided. the scope of the proposed objectives is achieved through the development and study of several versions of the selected hand at the mechanical, electronic and software level. Multiple experiments are developed to evaluate the effectiveness of the robotic hand. In addition, the regulatory technical framework and the socio-economic environment of the project are evaluated, so that it complies satisfactorily with the established restrictions and adjusts to the current social and economic context. These pages expose the complete development and integration process of the new hands, as part of a project that will continue after the defense of the work. The project is oriented to numerous additional studies around their behavior in the humanoid, contemplating the expansion of the TEO functions in relation to the versatility provided by his new fully functional hands.
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Keywords
Robótica, Robots humanoides, Mano robótica, Antropomorfismo, Robotic hand, Humanoid robots, Antropomorphism