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Modelling of a vibration robot using localization ground truth assisted by aruco markers

2023Conference paper Restricted access
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dc.contributor.authorMatos, Diogo
dc.contributor.authorLima, José
dc.contributor.authorRohrich, Ronnier Frates
dc.contributor.authorOliveira, Andre Schneider
dc.contributor.authorValente, António
dc.contributor.authorCosta, Pedro
dc.contributor.authorCosta, Paulo Gomes da
dc.date.accessioned2023-03-01T15:01:35Z
dc.date.available2023-03-01T15:01:35Z
dc.date.issued2023
dc.description.abstractSimulators 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.pt_PT
dc.description.sponsorshipThis work has been supported by FCT - Fundação para a Ciência e Tecnologia within the Project Scope: UIDB/05757/2020 and also by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia, within project LA/P/0063/2020.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationMatos, 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 - 486pt_PT
dc.identifier.doi10.1007/978-3-031-15226-9_44pt_PT
dc.identifier.urihttp://hdl.handle.net/10198/27378
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherSpringer, Champt_PT
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectVibration robotpt_PT
dc.subjectModellingpt_PT
dc.subjectArUco markerspt_PT
dc.subjectLocalizationpt_PT
dc.titleModelling of a vibration robot using localization ground truth assisted by aruco markerspt_PT
dc.typeconference paper
dspace.entity.typePublication
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.citation.conferencePlacePonta Delgadapt_PT
oaire.citation.endPage486pt_PT
oaire.citation.startPage475pt_PT
oaire.citation.title25th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2022pt_PT
oaire.citation.volume530pt_PT
oaire.fundingStream6817 - DCRRNI ID
person.familyNameLima
person.givenNameJosé
person.identifierR-000-8GD
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id55851941311
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsrestrictedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
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relation.isAuthorOfPublication.latestForDiscoveryd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isProjectOfPublication6e01ddc8-6a82-4131-bca6-84789fa234bd
relation.isProjectOfPublication.latestForDiscovery6e01ddc8-6a82-4131-bca6-84789fa234bd

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