Blog
Impedance control of ROMERIN (torque-based control)
15 Febrary, 2023
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Body position control on legged and climbing robots require from a more sophisticated control than position control. Here we present some details of the impedance control of ROMERIN using the gravity compensator.
How important is the gravity compensation in legged and climbing robots?
10 December, 2022
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Gravity compensation in robotics is a technique used to balance the gravitational forces acting on a robot, which helps to improve its stability and efficiency.
Do you know about digital twins and digital mirrors?
1 October, 2022
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The development of reliable simulation systems is crucial; therefore, there is a high interest in digital twins and digital mirrors. Click here to know more about them.
Steps to “Hack” a Dynamixel Motor
10 March, 2022
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Take a look how to “hack” a Dynamixel motor to make it stronger.
First tests of body control on the physical robot ROMERIN
10 December, 2021
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Tests on the physical robot have been carried out according to the previous simulation process. The robot stands up and moves the body. The robot does not fall after a power outage because of damage avoidance.
Simulation of the body control of ROMERIN
22 November, 2021
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Simulation video of ROMERIN. The robot stands up, moves the body and falls after a power outage.
ROMERIN hardware tested in walls and ceiling
22 November, 2021
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ROMERIN– hardware has been tested in the test mockup
Components update and redesign of the new end effector for ROMERIN-
27 July, 2021
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The new suction cup version in flexible plastic, with a compact crown with all the electronic included.
Presentation of ROMERIN-
14 June, 2021
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ROMERIN–, the new version of the modular climber robot, is ready to learn to walk
Electronic Redesign of the ROMERIN- controller
25 enero, 2021
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The main objective is to obtain a generic board, valid for other robots, and simplified, to reduce its dimensions, but always maintaining the functionalities of the old model.
Presentation of ROMERIN++
9 enero, 2021
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ROMERIN++, the UPM’s first modular climbing robot, was presented to the public for the first time on 22 December of 2020.
Final design of the adhesion cup using a suction turbine
9 enero, 2021
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At the beginning a first design was developed, shown in the image below, taking into account several theoretical and practical aspects. Once it was finished the design of the initial model, the evaluation of the prototype was carried out through experimental testing.
Manufacture of the test bench for the prototypes
9 enero, 2021
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Daniel Brito has designed and built the testing platform for the different types of climbing prototypes. It is designed with AutoDesk in a way that allows testing of different surfaces, inclinations and situations.
Assembly and Testing of the final version of ROMERIN+
9 enero, 2021
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Several versions of the robot were discarded until the final design was obtained after modifying the wrist because the leg was not able to put its final end parallel with any surface. The solution was to add a new DoF to the wrist, which allowed it to rotate on its main axis, achieving the total positioning of the final part of the wrist.
Advances in ROMERIN+ mechatronics: Electronic board, Legs and Case
9 enero, 2021
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Advances in ROMERIN+ mechatronics: Electronic board, Legs and Case The electronic board is the robot’s brain, controls all its actions
Development of the interface to control ROMHEX
09 enero, 2021
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One of the great advantages of this project is that it has a graphical interface capable of communicating with any modular robot, in our case it will be for the hexapod robot ROMERIN.
Analysis to optimize the adhesion system for ROMHEX
9 enero, 2021
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In order to find the best and most efficient model, various experimental tests were carried out which consisted in taking of measures with respect to the following parameters: atmospheric pressure, the revolutions per minute of the rotor and the consumption in amperes of the engine.
Simulation stage for the climbing hexapod robot ROMHEX
9 enero, 2021
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The main objective is to capture the robot in the mentioned simulator, giving it its characteristics. Since this robot will have the complex task of inspecting ducts with difficult or no access it is necessary that the simulated model responds correctly to the different unforeseen events that may be in its way.
