Research

My research projects were focused on developing a graphical virtual environment for rendering of particles, the design and control of series elastic actuator equipped with semi-active dampers, the design and control of a multi-functional-autonomous four wheel robot programmed in Arduino and the design and control of permanent magnet DC actuator based on Perendev's device working principle for actuation of wheeled robots.

Design and Control of a Series Elastic Actuator Equipped with Semi-Active Dampers for Safe Human-Robot Interaction

I am currently working on the design and control of this variable impedance actuator. This work was started in my last internship at Italian Institute of Technology. There I worked on an already existing Mechatronic design of the actuator, I improved the design and at the end I made it much more neat and functional. Now I working on the design of novel actuator based on this working principle to achieve compliance in wheeled robots. The original design and idea was developed by many people at the IIT including my supervisor Matteo Laffranchi, Gianluca Pane and the guys of the Department of Haptics and Teleoperation and Advanced Robotics as well.

Now based on these ideas and thanks to the motivation and guidance of my supervisor, I am working on the design of my own actuator which will implemented in the develop of a wheeled robot. The 1-DoF prototype is almost done, simulations are carrying on and assembly as well.

My concentration is on

- Improvement of variable stiffness method by means of a novel spring arrangement.
- Analysis of robustness and capabilities for wheeled robots interacting with humans.
- Development of 1-DoF prototype to test different control approaches learned during my internship in order to analyze system's performance.
- Fabrication of a low-cost and lightweight actuator

Haptic Rendering of the Acceleration of Particles Moving along Pre-Specified Paths

The goal of this project was to use the Novint Falcon Haptic Device to allow user to feels how the direction of the acceleration of a particle changes as the particle moves along some path.

My concentration was on

- Build a graphical virtual environment that shows a sphere (particle) moving along some 2D path using the MATLAB Virtual Reality Toolbox and Simulink for system modeling.
- Build a GUI which allows the user to select a path, how the particle moves along it and what component of the acceleration (tangential, normal or both) to feel.
- Simulations were carried to out to evaluate the performance of the virtual environment and the system response under constrained conditions: a) by using a straight path and b) by using a curve path.

Design, Development and Implementation of an Artificial Vision System Based Open-Source for Quality Control in Wipers Direct Actuator (WDA) Manufacturing

This was my research project when I worked in my internship atRobert Bosch S.A de C.V Toluca's Plant under the supervision of Diego Alberto Jurado Ortega.

My research was concentrated on developing an intelligent vision system applying computer techniques and pattern recognition for controlling quality in this kind of actuators. The algorithm scheme is based open-source [Open CV] and Linux and it was implemented for testing and simulation by means of a RGB camera.

My concentration was on

Implementing Lean Manufacturing Techniques to guarantee total quality in the WDA production cells.
Developing an intelligent system that allow the user to verify that the actuators math with quality standards in easier way.
Increasing productivity and reducing failure time by means of planning and re-planning statistical control methods.

Design and Control of a 25 D.O.F Walking Humanoid Robot Through Reinforcement Learning

This is my current research work which took place last October 2015.

Currently I am still working on it and the purpose of this project is to build a functional multi-task walking robot using reinforcement learning as control strategy to allow it perform different routines and movements based on the human body. Artificial vision will be implemented to give him navigation capabilities under the intelligent control approach.

My main focus is on:

- Calculation of kinematics and dynamics of the robot.
- Modelling of the system considering hardware constraints.
- Mapping Robot's image pixel to actual object.
- Programming algorithms to allow the robot behave in a humanoid way and mimic human movements.
- Implement artificial vision to provide him autonomy on navigation.
- More characteristics will be add further...

Design and Control of a Multifunctional-Autonomous Four-Wheel Robot Programmed in Arduino

This is my under graduation research completed on late April, 2012.

Our research was to develop a mobile robot with different capabilities such as navigation by means of infrared sensors, by using ultrasonic sensors, LDR sensors and the implementation of a RGB camera to allow the vehicle path planning through this approach.

Our focus was on

- Calculation of kinematics and dynamics of the robot.
- Modelling of the system considering hardware constraints.
- Mapping Vehicle's image pixel to actual object.
- Programming algorithm to give to the robot functionality as line-follower.
- Programming algorithm to allow the robot behaves as light-follower by
- means of the LDR sensors. Also the camera was integrated to test path planning, obstacle avoidance, labyrinth solution and pattern recognition.

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