Modelling of a Vibration Robot Using Localization Ground Truth Assisted by ArUCo Markers

• Type: Article in International Conference Proceedings Book
• Date: 2023

Authors

Matos, D (Author) Other; Lima, J (Author) Other; Rohrich, R (Author) Other; Oliveira, A (Author) Other; Valente, A (Author) Other; Pedro Luís Cerqueira Gomes da Costa (Author) FEUP; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: ROBOTICS IN NATURAL SETTINGS, CLAWAR 2022

Pages: 475-486

25th International Conference on Climbing and Walking Robots and Mobile Machine Support Technologies (CLAWAR)

PORTUGAL, SEP 12-14, 2022

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Other information

Authenticus ID: P-00X-3V5

DOI: 10.1007/978-3-031-15226-9_44

Abstract (EN): Simulators have been increasingly used on development and tests on several areas. They allow to speed up the development without damage and no extra costs. On realistic simulators, where kinematics play an important role, the modelling process should be imported for each component to be accurately simulated. Some robots are not yet modelled, as for example the Monera. This paper presents a model of a small vibration robot (Monera) that is acquired in a developed test-bed. A localisation ground truth is used to acquire the position of the Monera with actuating it. Linear and angular speeds acquired from real experiments allow to validate the proposed methodology.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12