Juan González-Gómez

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— In this paper, a general classification of the modular robots is proposed, based on their topology and the type of connection between the modules. The loco-motion capabilities of the subgroup of pitch-yaw connecting robots are analyzed. Five different gaits have been implemented and tested on a real robot composed of eight modules. One of them, rotating,(More)
Figure 1. Typical urban scenario after an earthquake. A highly unstructured and chaotic environment with a lot of pieces of rumble. Likely, there are people inside that should be rescued immediately. City of Puerto Principe, Abstract—Snakes modular robots are good candidates for being used in Urban Search And Rescue (USAR) operations because of their(More)
— In this paper, a new method for solving the inverse kinematics of the fingers of an anthropomorphic hand is proposed. Our approach combines a Modified Selectively Damped Least Squares (MSDLS) and Jacobian Transpose (JT) methods. The main advantages of this method with respect to the ordinary SDLS are: optimal Cartesian increment, shorter computation time(More)
— The motion of wheeled mobile robots is inherently based on their wheels' rolling capabilities. The assumption is that each wheel can rotate indefinitely, forward and backwards. This is the starting point for all motion control mechanisms of wheeled robots. In this paper, a new motion capability of differential mobile robots with limited wheel rotation(More)
For many years robotics has been benefited from the open source community. Software community projects like Player, Stage, Gazebo, ROS, or OpenCV are present in most robotic applications. In recent years this trend has also been initiated among electronic and mechanical developments (open hardware). The Arduino development platform is a good example of a(More)
— For many years robotics has been benefited by the open source community. Community projects like Play-er/Stage/Gazebo, ROS, or OpenCV are present in most robotic applications. In recent years this trend has also been initiated among the electronic developments (open hardware). Arduino is a good example of an open hardaware project, with a big community of(More)
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