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Advisor(s)
Abstract(s)
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 testbed. 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.
Description
Keywords
Vibration robot Modelling ArUco markers Localization
Citation
Matos, Diogo; Lima, José; Rohrich, Ronnier; Oliveira, André; Valente, António; Costa, Pedro; Costa, Paulo (2023). Modelling of a vibration robot using localization ground truth assisted by aruco markers. In 25 th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2022. Ponta Delgada. 530, p. 475 - 486
Publisher
Springer, Cham