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dc.contributor.authorPastor-Martín, Francisco
dc.contributor.authorRuiz-Ruiz, Francisco Jesús
dc.contributor.authorGómez-de-Gabriel, Jesús Manuel 
dc.contributor.authorGarcía-Cerezo, Alfonso José 
dc.date.accessioned2023-06-07T06:55:42Z
dc.date.available2023-06-07T06:55:42Z
dc.date.issued2023
dc.identifier.urihttps://hdl.handle.net/10630/26836
dc.description.abstractIn this letter, we present an autonomous method for the placement of a sensorized wristband to victims in a Search-And-Rescue (SAR) scenario. For this purpose, an all-terrain mobile robot includes a mobile manipulator, which End-Effector (EE) is equipped with a detachable sensorized wristband. The wristband consists of two links with a shared shaft and a spring. This configuration allows the wristband to maintain fixed to the EE while moving and get placed around the victim’s forearm once the contact is produced. The method has two differentiated phases: i) The visual moving hand tracking phase, where a 3D vision system detects the victim’s hand pose. At the same time, the robotic manipulator tracks it with a Model Predictive Controller (MPC). ii) The haptic force-controlled phase, where the wristband gets placed around the victim’s forearm controlling the forces exerted. The wristband design is also discussed, considering the magnitude of the force needed for the attachment and the torque the wristband exerts to the forearm. Two experiments are carried out, one in the laboratory to evaluate the performance of the method and the second one in a SAR scenario, with the robotic manipulator integrated with the all-terrain mobile robot. Results show a 97.4% success in the wristband placement procedure and a good performance of the whole system in a large scale disaster exercisees_ES
dc.description.sponsorshipPlan Propio de la Universidad de Málaga, y Ministerio de Ciencia, Innovaci ón y Universidades, Gobierno de España, RTI2018-093421-B-I00. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.es_ES
dc.language.isoenges_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectRobóticaes_ES
dc.subjectAyuda en las catástrofeses_ES
dc.subjectRobots autónomoses_ES
dc.subject.otherRoboticses_ES
dc.titleAutonomous Wristband Placement in a Moving Hand for Victims in Search and Rescue Scenarios With a Mobile Manipulator.es_ES
dc.typeinfo:eu-repo/semantics/conferenceObjectes_ES
dc.centroEscuela de Ingenierías Industrialeses_ES
dc.relation.eventtitleIEEE ICRA 2023es_ES
dc.relation.eventplaceLondres, Reino Unidoes_ES
dc.relation.eventdate29-05-2023es_ES
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
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