Speakers: Dr. Gustavo Acosta & Dr.(c) Juan Camilo Herrera
Title:
ROS for robotic systems: autonomous navigation and manipulator arms
Abstract
Section 1. Mobile Service Robots
1.1 Fundamentals of mobile robotics: locomotion, sensors and work environment
1.2 Basic concepts of ROS: nodes, topics, messages and services
1.3 Application design methodology based on ROS computing graph
1.4 Terminal commands for movement control of mobile robots and reading of own and exteroceptive sensors
1.4 Reactive navigation I: design of nodes for the implementation of the behavior "avoidance of surrounding obstacles"
1.6 Reactive navigation II: design of nodes for the implementation of the behavior "go to the goal"
1.7 Reactive navigation III: navigation architecture based on fuzzy behaviors
Section 2. Manipulator robots
2.1 Fundamentals of Manipulator Robotics: Joint Types, Configurations, and Workspace
2.2 Modeling of manipulators in ROS, Gazebo and Rviz: URDF, Xacro and STL
2.3 Design of nodes for manipulator arm movement control
2.4 Path planning on manipulators with the MoveIt tool
2.5 Implementation of handling maneuvers
Short Bio
Gustavo Acosta Amaya, Associate Professor of the Automation and Control Engineering program at the Politécnico Colombiano Jaime Isaza Cadavid, Medellín-Colombia. Electrical Engineer, MSc. in Engineering (Systems Engineering), PhD. in Engineering (Systems and Computer Science) degrees awarded by the Universidad Nacional de Colombia. Research areas: Autonomous navigation of mobile robots, artificial intelligence applied to robotics, intelligent control of systems and processes, simultaneous mapping and localization in robotics (SLAM)
Juan Camilo Herrera Pineda is an Occasional Professor at the Electronics Department of the Institución Universitaria Pascual Bravo, located in Medellín, Colombia, since 2019. In this institution, he teaches courses related to Robotics, Servomechanisms, Hydraulics, and Pneumatics. His area of research focuses on the design and development of robots for specific applications, with a strong emphasis on crucial aspects such as mechanics, electronics, and software to ensure optimal performance. He obtained his degree in Instrumentation and Control Engineering from the Politécnico Colombiano Jaime Isaza Cadavid in 2011. He pursued a specialization in Integrated Design of Technical Systems at the Universidad Eafit in 2014, and completed his Master's in Mechanical Engineering at the Federal University of Santa Catarina (Brazil) in 2017. Currently, he is a cPDH (Continuing Professional Development) at the Universidad Nacional de Colombia and serves as a Professor of Engineering in Automation and Control at the Politécnico Colombiano Jaime Isaza Cadavid.
