DR. ERNESTO OLGUÍN DÍAZ

@inproceedings{7803335,

title = {A humanoid robot toying a spinning top: Analysis and design},

author = {Guzman-Alvarado, M. and Guzman-Solis, G. and Obregon, J. and Hernandez-Tuyin, J. and Parra-Vega, Vicente and Olgu\'{i}n-D\'{i}az, Ernesto and Garcia-Rodriguez, R.},

doi = {10.1109/HUMANOIDS.2016.7803335},

year  = {2016},

date = {2016-11-01},

booktitle = {2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)},

pages = {595-600},

abstract = {There exists certain unusual and highly demanding human motor tasks that require bimanual high-end dexterous skills, such as throwing a curve ball, skating, RipStik caster boarding, to name a few, wherein precise fast nonlinear dynamics and advanced robust control play a major role. Similarly, the spinning top (ST), an amazingly popular toy across cultures from millennia, has recently motivated formal research due to its apparent complex perplexing physics that maintains it upright without falling even when its rotational axis is inclined, a motion regime we call “dancing”. In this paper, a humanoid robot (HR) that replicates the throwing and dancing motion regimes of a 6D ST toy (STT) is proposed, using full nonlinear models. A finite-time continuous robust, yet model-and chattering-free controller is synthesized for the HR to track the aggressive but smooth trajectories from a real-time motion capture system of an expert human player. Simulations show the successful throwing and dancing of STT. Moreover, analysis suggests a trade-off on theoretical and practical aspects subject to current HR technological limitations.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7487387,

title = {Cooperative redundant omnidirectional mobile manipulators: Model-free decentralized integral sliding modes and passive velocity fields},

author = {Ponce-Hinestroza, A. N. and Castro-Castro, J. A. and Guerrero-Reyes, H. I. and Parra-Vega, Vicente and Olguin-Diaz, Ernesto},

doi = {10.1109/ICRA.2016.7487387},

year  = {2016},

date = {2016-05-01},

booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {2375-2380},

abstract = {An omnidirectional mobile manipulator (OMM) provides extended capabilities to a robotic system since it enlarges its workspace at the expense of an omnidirectional mobile base, which is nowadays a reality. When various OMM transport an object, the resultant constrained OMM dynamics is quite complex that demands effective control schemes without neglecting dominant nonlinear effects nor interaction forces. In this paper, it is proposed a decentralized cooperative control for a set of k OMMs (k-OMM) subject to homogeneous holonomic constraints imposed by the object being manipulated. A chatterless integral sliding mode force-position control guarantees exponential tracking whose implementation does not require any knowledge of dynamics. This controller is decentralized in a sense that neither dynamics nor interaction forces of the i-OMM are required for the j-controller, and it is cooperative by correcting collectively the velocity deviation due to the pushing of the other j-OMM. Each omnidirectional base provides object mobility along passive smooth velocity fields to avoid obstacles on the floor, which is synthesized as the secondary task when resolving redundancy, and the force control stabilizes internal forces to ensure object grasp, which are declared together with end-effector position, as the primary task. Simulations are discussed for two 8-DoF Kuka youBot OMM system navigating in a cluttered environment.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Castillo2014,

title = {Generacion de Movimientos Humanoides con Dinamica Inversa Jerarquica},

author = {Estopier-Castillo, Vicente and Arechavaleta, Gustavo and Olgu\'{i}n-D\'{i}az, Ernesto},

url = {http://amca.mx/memorias/amca2014/articulos/0112.pdf},

year  = {2014},

date = {2014-00-00},

booktitle = {Generacion de Movimientos Humanoides con Dinamica Inversa Jerarquica},

publisher = {Congreso Latinoamericano de Control Autom\'{a}tico CLCA 2014},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Garcia-Teran2014,

title = {Implementacion de un sistema de navegacion para dotar de autonomia a un vehiculo marino},

author = {Garcia-Teran, Miguel Angel and Ballote, Danuel and Raygoza-Barahona, Ruben and Villa, Luis Enrique and Olguin-Diaz, Ernesto and Enriquez-ortiz, Cecilia and Mari\~{n}o-Tapia, Ismael},

year  = {2014},

date = {2014-00-00},

booktitle = {Implementacion de un sistema de navegacion para dotar de autonomia a un vehiculo marino},

publisher = {memorias del XVI Congreso Mexicano de Rob\'{o}tica ComRob, 2014},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Olguin-Diaz2014,

title = {Aeordynamic sectional modeling with the use of extended vectors},

author = {Olguin-Diaz, Ernesto and Garcia-Teran, Miguel Angel},

doi = {10.1109/icuas.2014.6842286},

isbn = {978-1-4799-2376-2},

year  = {2014},

date = {2014-00-00},

booktitle = {Aeordynamic sectional modeling with the use of extended vectors},

pages = {459-469},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}