This project describes the design of a conveyor belt manipulator for repositioning boxes to locate the bar code side in the right position to be sensed in a logistic center. The general rule is that a few pairs of hands touch the package as possible in parcel logistics centers, ideally just three. First for loading, second for unloading the containers, and third for a worker has to place the packages on the conveyor logistic system in the right position, i.e., the bar code must be visible by the vision system. The correct position of the bar code is essential for the vision systems to check the delivery information and manage the package automatically through the correct conveyor in the logistics centers. That process needs to be automated using a collaborative robot (COBOT) and a specific manipulator design for that task. In this work, we present a reposition boxes methodology with a novel conveyor belt manipulator. Our novel design has been achieved by analyzing the manipulation characteristics needed to control, rotate, and flip boxes in a real logistic industry. Then, a prototype was built and tested in the laboratory.

Un compañero robótico humanoide de medio torso. Yaren interactúa con el infante mediante una infinidad de movimientos. Empatiza con él a través de una serie de expresiones, pudiendo imitar su estado de ánimo actual. Le presenta al infante varias rutinas para que él o ella imite y se mantenga activo. Y viceversa, pues reconoce movimientos del niño y los replica.

We analyze and propose a recognition process of plug-in cable connectors for wiring harness assembly tasks using image processing. For manipulation and routing of wire harness, knowing the accurate pose of the cable connector is very critical in the grasping moment. The recognition process is crucial to minimize the error in the manipulation of the connectors. Nowadays, we notice that collaborative robot manipulators or small size industrial robot manipulators attain high accuracy and repeatability levels (sub-millimeter); thus, demonstrate very precise position control capabilities. Using those capacities and with the correct recognition system, we can apply to the automation of the wire harness assembly process. For that reason, we propose a connector recognition system to obtain the precise position of the connectors on a work table; which is necessary to obtain a successful grasping and manipulation of the connectors in a wire harness. The system and the recognition process are explained in detail, and validated experimentally.

This project aims to analyze the range of motions and characteristics of a quadruped robot for stair climbing and crossing over an obstacle. Humans have a higher range than quadruped animals due to longer legs. We can make fewer steps and reach the same distance, can climb stairs by two or three steps and not only one, and cross over high obstacles thanks to our leg range. However, stability is different because quadruped has four contact points, whereas humans have only two. Quadrupeds maintain walking stability because their gravity center falls within the triangle of support from the three legs when one is up, but in the same condition, humans encounter a complex challenge to maintain equilibrium. We propose using these inherent characteristics of a quadruped robot for motion analysis of stair climbing by two or three steps and cross over a big obstacle while maintaining high stability in a quadruped robot. We aboard in the discussion significant aspects of leg dimensions and joint ranges with geometrical analysis to find the optimal position of the feet. The motion effectiveness was verified experimentally by implementing the motions from the preliminary tests to a quadruped robot.

Grasping and holding objects are essential tasks for robotic manipulators. However, the development of universal grippers capable of manipulating unknown objects with widely varying shapes and surface properties remains a challenge. To address this, we present a novel reconfigurable soft gripper (OobSoft) based on Oobleck, deposited on a rubber membrane with a two-finger configuration with an actuation mechanism. This article presents a prototype and the development of this soft gripper with grasping and holding capabilities enabled by a simple actuation mechanism. This objective was achieved by taking advantage of a combination of soft materials, including the properties of Oobleck, rubber, and a bio inspired design. When pressed on a target object, the fingers (Oobleckinside a rubber membrane) flow around the object and conform to its shape. Upon application of the actuation mechanism, the viscosity of the Oobleck increases, so it quickly hardens topinch and hold the object without requiring sensory feedback. The development of the soft gripper is explained by the characteristics of the Oobleck and the prototype. The design of the soft gripper involved the anthropomorphic approach used in the design of the fingers. The results of grasping objects and the ability to hold them in position were demonstrated through experimental tests.

In this research, we propose the use of a distribute manipulator for repositioning and alignment process of cable connectors to obtain the accurate pose of the connector. The accurate pose is critical for a successful mating process in wiring harness assembly tasks. Conventional actuators such as robotics grippers rely on active manipulations; for example, they uses belts and, rollers for the repositioning of the cables, and others such as parallel grippers used directly to grasping the connector. However, all these systems need a lot of many pieces and mechanisms to manipulate the cables or high accuracy control process for grasping the connector in a certain position, thus increasing the difficulty when the cables and connectors are smaller. Therefore, we present a vibrating plate to perform in hand manipulation to reposition the cable and align the connector. We modeled and analyzed the relationship between the vibration frequency and the velocity of the cable. Furthermore, we experimentally show that the moving velocity of the cable is proportional to the vibration system frequency, and the proposed vibrating plate can reliably move the connector to the desired pose.