
Alejandro Aceves-LopezTecnológico de Monterrey | ITESM · Departamento de Mecatrónica y Automatización
Alejandro Aceves-Lopez
PhD Control Systems
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18
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Introduction
Publications
Publications (18)
Micro Aerial Vehicles (MAVs) have become very popular with a wide range of applications in cinema, surveillance, search and rescue, among many others. For these applications, an experienced pilot could operate the vehicle while keeping it in the line-of-sight. However, if the MAV flies beyond, the MAV may be highly compromised leading to potential...
This paper presents an overview of the most recent vision-based multi-rotor micro unmanned aerial vehicles (MUAVs) intended for autonomous navigation using a stereoscopic camera. Drone operation is difficult because pilots need the expertise to fly the drones. Pilots have a limited field of view, and unfortunate situations, such as loss of line of...
Lower limb exoskeletons are experiencing a rapid development that may suggest a prompt introduction to the market. These devices have an inherent close interaction with the human body; therefore, it is necessary to ensure user’s safety and comfort. The first exoskeletal designs used to represent the human joints as simple revolute joints. This appr...
El siguiente trabajo de investigación presenta una metodología para obtener los modelos de servo-motores comerciales pequeños para poder aplicarlos a cadenas cinemáticas cuyos modelos se vean representados por la metodología de Euler- LaGrange. El estudio se enfoca a su aplicación a los sistemas motrices del humanoide Bogobot 1 desarrollado en el I...
The presented color classification technique shows a good approximation for color subspaces without the need of transforming the color signal of pixels. The produced implicit surface binds tightly the cloud of color samples, reducing possible overlapping problems with other color classes. The use of a look-up table was an efficient method that allo...
Resumen: El presente artículo muestra el desarrollo de la cinemática directa e inversa de un robot bípedo, y se plantea una trayectoria de la dinámica de movimiento de ambas piernas, sin considerar la transición en la cual ambos pies son soportes, tal trayectoria es seguida por el robot mediante una técnica de control clásico. El robot bípedo estud...
Many ongoing projects are being done in the field of humanoid robotics. Studies in the generation of human-like motions for humanoids based on human-motion-captured-data (HMCD) have demonstrated that this is feasible. Walking style patterns using only the ZMP concept have shown that the resulting motion of humanoids are not natural as human's motio...
This paper proposes the natural logic controller (NLC) that it comes through a very important simplification of the Mamdani's fuzzy controller (MFC) allowing easy-design for single-input-single-output (SISO) regulation problems. Usually, fuzzy controllers are built with two classical signals of process: The error and its rate of change. They use a...
This paper describes work being done at Tecnológico de Monterrey, Campus Estado de México, Mexico. Since 2002 we have been working with AIBO robots with research problems related with vision, strategies, communication and locomotion.
In this paper a method for the design of fuzzy controllers that overcome the problems of lack of guaranteed stability and of computational explosion is developed. The proposed fuzzy controller takes into account the technological constraints on the input and output variables and can be easily designed even for multivariable systems. In the first pa...
This paper describes a color classification technique for the color subspaces definition based in D reconstruction approaches.
These color subspaces use implicit functions to create a bounding surface that will fit a set of characteristic color samples
to define a particular color. The implicit subspace reconstruction allow to define clusters of ar...
Introducción RoboCup (originalmente llamado Robot World Cup Initiative) es una iniciativa internacional de investigación y educación. Con la finalidad de promover la investigación en robótica y la inteligencia artificial (IA) se provee un problema estándar en donde una amplia gama de tecnologías pueden integrarse y examinarse, así como utilizarse e...
Now a day the interest on biped walking machines around the world is growing due to the potential interaction with humans [1-9]. We focus our work inspired in the dream of creating and cohabiting with robots supporting humans' activities. The first step of this cohabitation is to construct an autonomous walking biped. This paper describes the const...
This paper describes the specifications and capabilities of the Teen-Size humanoid robot that is being developed by the Bogobots Humanoid Team at Tecnológico de Monterrey, Campus Estado de México for Robocup 2008 competition. At this moment our robot has 10 DOF, a PWM servo-controller card and a main DSPic unit. The main research of the team focuse...
El prototipo "Levitación Magnética LEA400" es un sistema monovariable, inestable, no lineal, el cual consiste de un cuerpo de metal (esfera) que se desplaza libremente, un electroimán como actuador y un sistema electrónico de control. La configuración puede ser vista como un péndulo suspendido magnéticamente. Esta unidad experimental se presenta co...
This paper describes the specifications and capabilities of the huma-noid robots developed by the Bogobots Humanoid Team at Tecnológico de Monterrey, Campus Estado de México for Robocup 2008 competition. Each ro-bot has 20 DOF, a CMUcam3 camera, a digital compass, a PWM servo-controller card and a main DSPic unit. The main research of the team focu...