Aplicación con el robot Cozmo para el seguimiento de trayectorias como un sistema embebido

Manuel Alejandro Ojeda-Misses

doi:10.29057/icbi.v10iEspecial6.8873

Manuel Alejandro Ojeda-Misses Tecnológico de Estudios Superiores de Huixquilucan https://orcid.org/0000-0003-3963-5399

DOI: https://doi.org/10.29057/icbi.v10iEspecial6.8873

Keywords: Cozmo Robot, Trayectory Tracking, Nonlinear Control, Embedded system

Abstract

This paper presents a novel application with the Cozmo robot for trajectory following control through practical experience as an embedded control system. In this work, the installation and programming for the Cozmo robot is presented, whose embedded system is commercially available for the applications, animations, and pre-established movements. The main contribution of this article is to carry out a control system for trajectory tracking using Matlab/Simulink, Python, Visual Studio and Kinect v2 as a feedback sensor using a nonlinear control strategy. The solution proposal allows validating and verifying that various types of experimental results can be developed through the Cozmo robot, which greatly favor the application of real-time feedback control techniques.

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