ROBOTIC' S FINAL PROJECT: FIRST

DELIVERY

REPOWERING AND
REDESIGN OF THE
CHIMUELO ROBOT

PRESENTED BY:
DANIEL FERNANDO CORREA
FABIAN GUARTOS ARANGO
ALEJANDRO FERNANDEZ URBANO
Introduction and Aplication

GITCoD
Other Solutions to the Problem

GUI3DXBot
It's an application for a mobile
guide robot, where they show
the development of 3 software
modules necessary to guide
users in an office building. It
has a very intuitive interface in
a mobile application to interact
with the robot easily.
Other Solutions to the Problem

Robotic Guide Dog

It's an autonomous quadrupedal
robot with a leash that is able to
physically guide humans with
visually-impaired through narrow
and cluttered spaces. The
dimensions of the robot and its
mechanism to guide the user
have shown very good results.
Other Solutions to the Problem
Robot Guide for the
Visually Impaired
It's an assisted indoor navigation
system for the visually impaired. The
system consists of a mobile robotic
guide and small sensors embedded
in the environment. This robot has a
series of interaction functions to
make the user feel more
comfortable.
Proposed Design Alternatives
Final Design of Chimuelo
Description of Components:
Physical Arquitecture
Chimuelo's CAD
Chimuelo's URDF
Chimuelo's URDF
Chimuelo in RVIZ
Chimuelo in RVIZ
Chimuelo in Gazebo with
Teleoperation
References

[1] Bledt, G., Powell, M. J., Katz, B., Di Carlo, J., Wensing, P. M., & Kim, S. (2018). MIT cheetah 3: Design
and control of a robust, dynamic quadruped robot. 2018 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS).
[2] Muñoz Peña, K., & Bacca Cortes, B. (2019). GUI3DXBot: An Interactive Software Tool for a Tour-
Guide Mobile Robot. Ciencia e ingeniería neogranadina, 30(1), 59–74.
https://doi.org/10.18359/rcin.3644
[3] Xiao, A., Tong, W., Yang, L., Zeng, J., Li, Z., & Sreenath, K. (2021). Robotic guide dog: Leading a
human with leash-guided hybrid physical interaction. En arXiv [cs.RO].
http://arxiv.org/abs/2103.14300
[4]V. Kulyukin, C. Gharpure and N. De Graw. (2014). Human-Robot Interaction in a Robotic Guide for the
Visually Impaired. Utah Satate University.