| dc.contributor.author | Rodríguez, Alejandro | |
| dc.contributor.author | Saltarén, Roque | |
| dc.contributor.author | Aracil, Rafael | |
| dc.contributor.author | Pérez, Miguel Ángel | |
| dc.contributor.author | García, Cecilia | |
| dc.date.accessioned | 2022-02-03T10:56:30Z | |
| dc.date.available | 2022-02-03T10:56:30Z | |
| dc.date.issued | 2016 | |
| dc.identifier.citation | Rodríguez, A., Saltarén, R., Aracil, R., Pérez, M.A., García. C. Cable driven robot to simulate low gravity and its applications in underwater humanoid robots. En Actas de las XXXVII Jornadas de Automática. 7, 8 y 9 de septiembre de 2016, Madrid (pp. 43-48). DOI capítulo: https://doi.org/10.17979/spudc.9788497498081.0043 DOI libro: https://doi.org/10.17979/spudc.9788497498081 | es_ES |
| dc.identifier.isbn | 978-84-617-4298-1 (UCM) | |
| dc.identifier.isbn | 978-84-9749-808-1 (UDC electrónico) | |
| dc.identifier.uri | http://hdl.handle.net/2183/29552 | |
| dc.description.abstract | [Abstract] This paper addresses the main results obtained during the design and analysis of a cable-driven robot able to simulate the dynamic conditions existing in underwater environment. This work includes the kinematic and dynamic modeling as well as the analysis of the tension of the cables along different trajectories. The low-gravity simulator application is novel in the context of cable-driven robots and it is aimed to be implemented in an underwater humanoid robot. Therefore, this work can be seen as a test case of the complementary research contributions of the group of Robotics and Intelligent Machines at CAR in the recent years. | es_ES |
| dc.description.sponsorship | The research leading to these results has received funding from the Spanish Government CICYT project Ref. DPI2014-57220-C2-1-P, DPI2013-49527-EXP, the Universidad Politécnica de Madrid project Ref. AL14-PID-15, and the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU | es_ES |
| dc.description.sponsorship | Universidad Politécnica de Madrid; AL14-PID-15 | es_ES |
| dc.description.sponsorship | Comunidad de Madrid; S2013/MIT-2748 | es_ES |
| dc.description.uri | https://doi.org/10.17979/spudc.9788497498081 | |
| dc.language.iso | eng | es_ES |
| dc.publisher | Comité Español de Automática | es_ES |
| dc.relation.uri | https://doi.org/10.17979/spudc.9788497498081.0043 | es_ES |
| dc.rights | Atribución-NoComercial-CompartirIgual 4.0 Internacional | es_ES |
| dc.rights.uri | https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es | * |
| dc.subject | Cable driven robot | es_ES |
| dc.subject | Llow gravity simulation | es_ES |
| dc.subject | Underwater robotics | es_ES |
| dc.subject | Modeling | es_ES |
| dc.title | Cable Driven Robot to Simulate Low Gravity and Its Applications in Underwater Humanoid Robots | es_ES |
| dc.type | conference output | es_ES |
| dc.rights.accessRights | open access | es_ES |
| UDC.startPage | 43 | es_ES |
| UDC.endPage | 48 | es_ES |
| dc.identifier.doi | 10.17979/spudc.9788497498081.0043 | |
| UDC.conferenceTitle | XXXVII Jornadas de Automática | es_ES |
| UDC.coleccion | Publicacións UDC | es_ES |
| dc.relation.projectID | info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2014-57220-C2-1-P/ES/ROBOT ACTUADO POR CABLES PARA INVESTIGAR Y DESARROLLAR EL CONTROL CINEMATICO Y DINAMICO DE SISTEMA ROBOTIZADOS EN BAJA GRAVEDAD: APLICACION A ROBOTS HUMANOIDES SUBMARINOS | |
| dc.relation.projectID | info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2013-49527-EXP/ES/DESARROLLO PRACTICO Y EXPERIMENTAL DE UN MODELO DE CONTROL BASADO EN COMPORTAMIENTOS INNATOS APLICADO A ROBOTS | |
