Differential kinematics of a multisection–robot
The multi-section robots also called variable geometry robots (VGT), are formed by different modules and have multiple degrees of freedom (DOF); These robots are a new class that can be defined as systems adaptable to different environments, unlike conventional robots, multi-section robots allow gre...
- Autores:
-
Castro, Fabian C.
Vergara, Nicolás J. Walteros
Cardenas, Cesar A.
Amaya, Juan C.
De la Hoz, Franco Emiro
Colpas, Paola A.
Collazos, Carlos A.
- Tipo de recurso:
- Article of investigation
- Fecha de publicación:
- 2022
- Institución:
- Corporación Universidad de la Costa
- Repositorio:
- REDICUC - Repositorio CUC
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.cuc.edu.co:11323/13646
- Acceso en línea:
- https://hdl.handle.net/11323/13646
https://repositorio.cuc.edu.co/
- Palabra clave:
- Curvature discretization
Multi-section robot
Path planning
Screw transformation
- Rights
- closedAccess
- License
- Atribución 4.0 Internacional (CC BY 4.0)
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Differential kinematics of a multisection–robot |
| title |
Differential kinematics of a multisection–robot |
| spellingShingle |
Differential kinematics of a multisection–robot Curvature discretization Multi-section robot Path planning Screw transformation |
| title_short |
Differential kinematics of a multisection–robot |
| title_full |
Differential kinematics of a multisection–robot |
| title_fullStr |
Differential kinematics of a multisection–robot |
| title_full_unstemmed |
Differential kinematics of a multisection–robot |
| title_sort |
Differential kinematics of a multisection–robot |
| dc.creator.fl_str_mv |
Castro, Fabian C. Vergara, Nicolás J. Walteros Cardenas, Cesar A. Amaya, Juan C. De la Hoz, Franco Emiro Colpas, Paola A. Collazos, Carlos A. |
| dc.contributor.author.none.fl_str_mv |
Castro, Fabian C. Vergara, Nicolás J. Walteros Cardenas, Cesar A. Amaya, Juan C. De la Hoz, Franco Emiro Colpas, Paola A. Collazos, Carlos A. |
| dc.subject.proposal.eng.fl_str_mv |
Curvature discretization Multi-section robot Path planning Screw transformation |
| topic |
Curvature discretization Multi-section robot Path planning Screw transformation |
| description |
The multi-section robots also called variable geometry robots (VGT), are formed by different modules and have multiple degrees of freedom (DOF); These robots are a new class that can be defined as systems adaptable to different environments, unlike conventional robots, multi-section robots allow greater flexibility and adaptability to carry out tasks with restricted space conditions, their locomotion has a high degree of manipulation and dexterity in environments with difficult access and very closed spaces where maneuverability must be high, these characteristics are very similar to those exhibited by the movements of snakes, elephant trunks, and octopus tentacles, capabilities beyond them reach of traditional handlers of rigid link, multi-link robots can adapt their shape to navigate through complex environments. In this work, we show the implementation of the Lie Matrix Theory of the rigid movements of a body in a multi-link Robot so that through kinematics and with the planning of trajectories through third-order polynomials this resembles curves smoothed by Bezier to generate different deformations in the robot in such a way that its movements elude obstacles in a given one within the workspace. The developed algorithm was implemented on a simulated virtual platform in a robotics environment. The motivation of the work was to be able to demonstrate a planning of robot trajectories with multiple degrees of freedom using deterministic algorithms and not focused on computational intelligence such as neural networks or reinforced learning. |
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2022 |
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2022-07-15 |
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2024-11-08T13:59:07Z |
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2024-11-08T13:59:07Z |
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Artículo de revista |
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Castro, F.C. et al. (2022). Differential Kinematics of a Multisection–Robot. In: Gervasi, O., Murgante, B., Hendrix, E.M.T., Taniar, D., Apduhan, B.O. (eds) Computational Science and Its Applications – ICCSA 2022. ICCSA 2022. Lecture Notes in Computer Science, vol 13375. Springer, Cham. https://doi.org/10.1007/978-3-031-10522-7_12 |
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0302-9743 |
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https://hdl.handle.net/11323/13646 |
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10.1007/978-3-031-10522-7_12 |
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1611-3349 |
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Corporación Universidad de la Costa |
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REDICUC - Repositorio CUC |
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https://repositorio.cuc.edu.co/ |
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Castro, F.C. et al. (2022). Differential Kinematics of a Multisection–Robot. In: Gervasi, O., Murgante, B., Hendrix, E.M.T., Taniar, D., Apduhan, B.O. (eds) Computational Science and Its Applications – ICCSA 2022. ICCSA 2022. Lecture Notes in Computer Science, vol 13375. Springer, Cham. https://doi.org/10.1007/978-3-031-10522-7_12 0302-9743 10.1007/978-3-031-10522-7_12 1611-3349 Corporación Universidad de la Costa REDICUC - Repositorio CUC |
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eng |
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eng |
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Lecture Notes in Computer Science |
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Denavit, J., Hartenberg, R.S. (1955) A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices, Duistermaat, J.J., Kolk, J.A. (2012) Lie Groups, Springer Science & Business Media Featherstone, R. (2014) Rigid Body Dynamics Algorithms, Springer Kim, Y., Cheng, S.S., Diakite, M., Gullapalli, R.P., Simard, J.M., Desai, J.P. Toward the development of a flexible mesoscale MRI-compatible neurosurgical continuum robot (2017) IEEE Trans. Robot., 33 (6), pp. 1386-1397. Niu, G., Zhang, Y., Li, W. Path planning of continuum robot based on path fitting (2020) J. Control Sci. Eng., 2020. Oliver-Butler, K., Till, J., Rucker, C. Continuum robot stiffness under external loads and prescribed tendon displacements (2019) IEEE Trans. Rob., 35 (2), pp. 403-419. Ouyang, B., Liu, Y., Tam, H.Y., Sun, D. Design of an interactive control system for a multisection continuum robot (2018) IEEE/ASME Trans. Mechatron., 23 (5), pp. 2379-2389. Paden, B., Sastry, S. Optimal kinematic design of 6R manipulators (1988) Int. J. Robot. Res., 7 (2), pp. 43-61. Vergara, N.J.W. Un Ejemplo De aplicación Momento En dimensión Infinita, Master’s thesis, Uniandes |
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172 |
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13375 |
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© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG. |
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Atribución 4.0 Internacional (CC BY 4.0) |
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https://creativecommons.org/licenses/by/4.0/ |
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15 páginas |
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Springer Verlag |
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Germany |
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Springer Verlag |
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Atribución 4.0 Internacional (CC BY 4.0)© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.https://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/closedAccesshttp://purl.org/coar/access_right/c_14cbCastro, Fabian C.Vergara, Nicolás J. WalterosCardenas, Cesar A.Amaya, Juan C.De la Hoz, Franco EmiroColpas, Paola A.Collazos, Carlos A.2024-11-08T13:59:07Z2024-11-08T13:59:07Z2022-07-15Castro, F.C. et al. (2022). Differential Kinematics of a Multisection–Robot. In: Gervasi, O., Murgante, B., Hendrix, E.M.T., Taniar, D., Apduhan, B.O. (eds) Computational Science and Its Applications – ICCSA 2022. ICCSA 2022. Lecture Notes in Computer Science, vol 13375. Springer, Cham. https://doi.org/10.1007/978-3-031-10522-7_120302-9743https://hdl.handle.net/11323/1364610.1007/978-3-031-10522-7_121611-3349Corporación Universidad de la CostaREDICUC - Repositorio CUChttps://repositorio.cuc.edu.co/The multi-section robots also called variable geometry robots (VGT), are formed by different modules and have multiple degrees of freedom (DOF); These robots are a new class that can be defined as systems adaptable to different environments, unlike conventional robots, multi-section robots allow greater flexibility and adaptability to carry out tasks with restricted space conditions, their locomotion has a high degree of manipulation and dexterity in environments with difficult access and very closed spaces where maneuverability must be high, these characteristics are very similar to those exhibited by the movements of snakes, elephant trunks, and octopus tentacles, capabilities beyond them reach of traditional handlers of rigid link, multi-link robots can adapt their shape to navigate through complex environments. In this work, we show the implementation of the Lie Matrix Theory of the rigid movements of a body in a multi-link Robot so that through kinematics and with the planning of trajectories through third-order polynomials this resembles curves smoothed by Bezier to generate different deformations in the robot in such a way that its movements elude obstacles in a given one within the workspace. The developed algorithm was implemented on a simulated virtual platform in a robotics environment. The motivation of the work was to be able to demonstrate a planning of robot trajectories with multiple degrees of freedom using deterministic algorithms and not focused on computational intelligence such as neural networks or reinforced learning.15 páginasapplication/pdfengSpringer VerlagGermanyhttps://link.springer.com/chapter/10.1007/978-3-031-10522-7_12Differential kinematics of a multisection–robotArtículo de revistahttp://purl.org/coar/resource_type/c_2df8fbb1Textinfo:eu-repo/semantics/articlehttp://purl.org/redcol/resource_type/ARTinfo:eu-repo/semantics/drafthttp://purl.org/coar/version/c_b1a7d7d4d402bcceLecture Notes in Computer ScienceDenavit, J., Hartenberg, R.S. (1955) A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices,Duistermaat, J.J., Kolk, J.A. (2012) Lie Groups, Springer Science & Business MediaFeatherstone, R. (2014) Rigid Body Dynamics Algorithms, SpringerKim, Y., Cheng, S.S., Diakite, M., Gullapalli, R.P., Simard, J.M., Desai, J.P. Toward the development of a flexible mesoscale MRI-compatible neurosurgical continuum robot (2017) IEEE Trans. Robot., 33 (6), pp. 1386-1397.Niu, G., Zhang, Y., Li, W. Path planning of continuum robot based on path fitting (2020) J. Control Sci. Eng., 2020.Oliver-Butler, K., Till, J., Rucker, C. Continuum robot stiffness under external loads and prescribed tendon displacements (2019) IEEE Trans. Rob., 35 (2), pp. 403-419.Ouyang, B., Liu, Y., Tam, H.Y., Sun, D. Design of an interactive control system for a multisection continuum robot (2018) IEEE/ASME Trans. Mechatron., 23 (5), pp. 2379-2389.Paden, B., Sastry, S. Optimal kinematic design of 6R manipulators (1988) Int. J. Robot. Res., 7 (2), pp. 43-61.Vergara, N.J.W. Un Ejemplo De aplicación Momento En dimensión Infinita, Master’s thesis, Uniandes17215813375Curvature discretizationMulti-section robotPath planningScrew transformationPublicationORIGINALDifferential Kinematics of a Multisection–Robot.pdfDifferential Kinematics of a Multisection–Robot.pdfapplication/pdf112783https://repositorio.cuc.edu.co/bitstreams/445299a7-2bbc-4629-aa9f-f36da2aac247/downloade3f4f75c91bd012ab408326ce8f79605MD51LICENSElicense.txtlicense.txttext/plain; charset=utf-815543https://repositorio.cuc.edu.co/bitstreams/f9b85608-c147-4a9c-be41-ed7351877920/download73a5432e0b76442b22b026844140d683MD52TEXTDifferential Kinematics of a Multisection–Robot.pdf.txtDifferential Kinematics of a Multisection–Robot.pdf.txtExtracted texttext/plain4310https://repositorio.cuc.edu.co/bitstreams/7c13464c-937f-4813-8a35-83a37db0a478/download120ba3aa92c03d0382b566fab03becbfMD53THUMBNAILDifferential Kinematics of a Multisection–Robot.pdf.jpgDifferential Kinematics of a 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ara ejercer estos derechos sobre la Obra tal y como se indica a continuación:</p>
    <ol type="a">
      <li>Reproducir la Obra, incorporar la Obra en una o más Obras Colectivas, y reproducir la Obra incorporada en las Obras Colectivas.</li>
      <li>Distribuir copias o fonogramas de las Obras, exhibirlas públicamente, ejecutarlas públicamente y/o ponerlas a disposición pública, incluyéndolas como incorporadas en Obras Colectivas, según corresponda.</li>
      <li>Distribuir copias de las Obras Derivadas que se generen, exhibirlas públicamente, ejecutarlas públicamente y/o ponerlas a disposición pública.</li>
    </ol>
    <p>Los derechos mencionados anteriormente pueden ser ejercidos en todos los medios y formatos, actualmente conocidos o que se inventen en el futuro. Los derechos antes mencionados incluyen el derecho a realizar dichas modificaciones en la medida que sean técnicamente necesarias para ejercer los derechos en otro medio o formatos, pero de otra manera usted no está autorizado para realizar obras derivadas. Todos los derechos no otorgados expresamente por el Licenciante quedan por este medio reservados, incluyendo pero sin limitarse a aquellos que se mencionan en las secciones 4(d) y 4(e).</p>
  </li>
  <br/>
  <li>
    Restricciones.
    <p>La licencia otorgada en la anterior Sección 3 está expresamente sujeta y limitada por las siguientes restricciones:</p>
    <ol type="a">
      <li>Usted puede distribuir, exhibir públicamente, ejecutar públicamente, o poner a disposición pública la Obra sólo bajo las condiciones de esta Licencia, y Usted debe incluir una copia de esta licencia o del Identificador Universal de Recursos de la misma con cada copia de la Obra que distribuya, exhiba públicamente, ejecute públicamente o ponga a disposición pública. No es posible ofrecer o imponer ninguna condición sobre la Obra que altere o limite las condiciones de esta Licencia o el ejercicio de los derechos de los destinatarios otorgados en este documento. No es posible sublicenciar la Obra. Usted debe mantener intactos todos los avisos que hagan referencia a esta Licencia y a la cláusula de limitación de garantías. Usted no puede distribuir, exhibir públicamente, ejecutar públicamente, o poner a disposición pública la Obra con alguna medida tecnológica que controle el acceso o la utilización de ella de una forma que sea inconsistente con las condiciones de esta Licencia. Lo anterior se aplica a la Obra incorporada a una Obra Colectiva, pero esto no exige que la Obra Colectiva aparte de la obra misma quede sujeta a las condiciones de esta Licencia. Si Usted crea una Obra Colectiva, previo aviso de cualquier Licenciante debe, en la medida de lo posible, eliminar de la Obra Colectiva cualquier referencia a dicho Licenciante o al Autor Original, según lo solicitado por el Licenciante y conforme lo exige la cláusula 4(c).</li>
      <li>Usted no puede ejercer ninguno de los derechos que le han sido otorgados en la Sección 3 precedente de modo que estén principalmente destinados o directamente dirigidos a conseguir un provecho comercial o una compensación monetaria privada. El intercambio de la Obra por otras obras protegidas por derechos de autor, ya sea a través de un sistema para compartir archivos digitales (digital file-sharing) o de cualquier otra manera no será considerado como estar destinado principalmente o dirigido directamente a conseguir un provecho comercial o una compensación monetaria privada, siempre que no se realice un pago mediante una compensación monetaria en relación con el intercambio de obras protegidas por el derecho de autor.</li>
      <li>Si usted distribuye, exhibe públicamente, ejecuta públicamente o ejecuta públicamente en forma digital la Obra o cualquier Obra Derivada u Obra Colectiva, Usted debe mantener intacta toda la información de derecho de autor de la Obra y proporcionar, de forma razonable según el medio o manera que Usted esté utilizando: (i) el nombre del Autor Original si está provisto (o seudónimo, si fuere aplicable), y/o (ii) el nombre de la parte o las partes que el Autor Original y/o el Licenciante hubieren designado para la atribución (v.g., un instituto patrocinador, editorial, publicación) en la información de los derechos de autor del Licenciante, términos de servicios o de otras formas razonables; el título de la Obra si está provisto; en la medida de lo razonablemente factible y, si está provisto, el Identificador Uniforme de Recursos (Uniform Resource Identifier) que el Licenciante especifica para ser asociado con la Obra, salvo que tal URI no se refiera a la nota sobre los derechos de autor o a la información sobre el licenciamiento de la Obra; y en el caso de una Obra Derivada, atribuir el crédito identificando el uso de la Obra en la Obra Derivada (v.g., "Traducción Francesa de la Obra del Autor Original," o "Guión Cinematográfico basado en la Obra original del Autor Original"). Tal crédito puede ser implementado de cualquier forma razonable; en el caso, sin embargo, de Obras Derivadas u Obras Colectivas, tal crédito aparecerá, como mínimo, donde aparece el crédito de cualquier otro autor comparable y de una manera, al menos, tan destacada como el crédito de otro autor comparable.</li>
      <li>
        Para evitar toda confusión, el Licenciante aclara que, cuando la obra es una composición musical:
        <ol type="i">
          <li>Regalías por interpretación y ejecución bajo licencias generales. El Licenciante se reserva el derecho exclusivo de autorizar la ejecución pública o la ejecución pública digital de la obra y de recolectar, sea individualmente o a través de una sociedad de gestión colectiva de derechos de autor y derechos conexos (por ejemplo, SAYCO), las regalías por la ejecución pública o por la ejecución pública digital de la obra (por ejemplo Webcast) licenciada bajo licencias generales, si la interpretación o ejecución de la obra está primordialmente orientada por o dirigida a la obtención de una ventaja comercial o una compensación monetaria privada.</li>
          <li>Regalías por Fonogramas. El Licenciante se reserva el derecho exclusivo de recolectar, individualmente o a través de una sociedad de gestión colectiva de derechos de autor y derechos conexos (por ejemplo, los consagrados por la SAYCO), una agencia de derechos musicales o algún agente designado, las regalías por cualquier fonograma que Usted cree a partir de la obra (“versión cover”) y distribuya, en los términos del régimen de derechos de autor, si la creación o distribución de esa versión cover está primordialmente destinada o dirigida a obtener una ventaja comercial o una compensación monetaria privada.</li>
        </ol>
      </li>
      <li>Gestión de Derechos de Autor sobre Interpretaciones y Ejecuciones Digitales (WebCasting). Para evitar toda confusión, el Licenciante aclara que, cuando la obra sea un fonograma, el Licenciante se reserva el derecho exclusivo de autorizar la ejecución pública digital de la obra (por ejemplo, webcast) y de recolectar, individualmente o a través de una sociedad de gestión colectiva de derechos de autor y derechos conexos (por ejemplo, ACINPRO), las regalías por la ejecución pública digital de la obra (por ejemplo, webcast), sujeta a las disposiciones aplicables del régimen de Derecho de Autor, si esta ejecución pública digital está primordialmente dirigida a obtener una ventaja comercial o una compensación monetaria privada.</li>
    </ol>
  </li>
  <br/>
  <li>
    Representaciones, Garantías y Limitaciones de Responsabilidad.
    <p>A MENOS QUE LAS PARTES LO ACORDARAN DE OTRA FORMA POR ESCRITO, EL LICENCIANTE OFRECE LA OBRA (EN EL ESTADO EN EL QUE SE ENCUENTRA) “TAL CUAL”, SIN BRINDAR GARANTÍAS DE CLASE ALGUNA RESPECTO DE LA OBRA, YA SEA EXPRESA, IMPLÍCITA, LEGAL O CUALQUIERA OTRA, INCLUYENDO, SIN LIMITARSE A ELLAS, GARANTÍAS DE TITULARIDAD, COMERCIABILIDAD, ADAPTABILIDAD O ADECUACIÓN A PROPÓSITO DETERMINADO, AUSENCIA DE INFRACCIÓN, DE AUSENCIA DE DEFECTOS LATENTES O DE OTRO TIPO, O LA PRESENCIA O AUSENCIA DE ERRORES, SEAN O NO DESCUBRIBLES (PUEDAN O NO SER ESTOS DESCUBIERTOS). ALGUNAS JURISDICCIONES NO PERMITEN LA EXCLUSIÓN DE GARANTÍAS IMPLÍCITAS, EN CUYO CASO ESTA EXCLUSIÓN PUEDE NO APLICARSE A USTED.</p>
  </li>
  <br/>
  <li>
    Limitación de responsabilidad.
    <p>A MENOS QUE LO EXIJA EXPRESAMENTE LA LEY APLICABLE, EL LICENCIANTE NO SERÁ RESPONSABLE ANTE USTED POR DAÑO ALGUNO, SEA POR RESPONSABILIDAD EXTRACONTRACTUAL, PRECONTRACTUAL O CONTRACTUAL, OBJETIVA O SUBJETIVA, SE TRATE DE DAÑOS MORALES O PATRIMONIALES, DIRECTOS O INDIRECTOS, PREVISTOS O IMPREVISTOS PRODUCIDOS POR EL USO DE ESTA LICENCIA O DE LA OBRA, AUN CUANDO EL LICENCIANTE HAYA SIDO ADVERTIDO DE LA POSIBILIDAD DE DICHOS DAÑOS. ALGUNAS LEYES NO PERMITEN LA EXCLUSIÓN DE CIERTA RESPONSABILIDAD, EN CUYO CASO ESTA EXCLUSIÓN PUEDE NO APLICARSE A USTED.</p>
  </li>
  <br/>
  <li>
    Término.
    <ol type="a">
      <li>Esta Licencia y los derechos otorgados en virtud de ella terminarán automáticamente si Usted infringe alguna condición establecida en ella. Sin embargo, los individuos o entidades que han recibido Obras Derivadas o Colectivas de Usted de conformidad con esta Licencia, no verán terminadas sus licencias, siempre que estos individuos o entidades sigan cumpliendo íntegramente las condiciones de estas licencias. Las Secciones 1, 2, 5, 6, 7, y 8 subsistirán a cualquier terminación de esta Licencia.</li>
      <li>Sujeta a las condiciones y términos anteriores, la licencia otorgada aquí es perpetua (durante el período de vigencia de los derechos de autor de la obra). No obstante lo anterior, el Licenciante se reserva el derecho a publicar y/o estrenar la Obra bajo condiciones de licencia diferentes o a dejar de distribuirla en los términos de esta Licencia en cualquier momento; en el entendido, sin embargo, que esa elección no servirá para revocar esta licencia o que deba ser otorgada , bajo los términos de esta licencia), y esta licencia continuará en pleno vigor y efecto a menos que sea terminada como se expresa atrás. La Licencia revocada continuará siendo plenamente vigente y efectiva si no se le da término en las condiciones indicadas anteriormente.</li>
    </ol>
  </li>
  <br/>
  <li>
    Varios.
    <ol type="a">
      <li>Cada vez que Usted distribuya o ponga a disposición pública la Obra o una Obra Colectiva, el Licenciante ofrecerá al destinatario una licencia en los mismos términos y condiciones que la licencia otorgada a Usted bajo esta Licencia.</li>
      <li>Si alguna disposición de esta Licencia resulta invalidada o no exigible, según la legislación vigente, esto no afectará ni la validez ni la aplicabilidad del resto de condiciones de esta Licencia y, sin acción adicional por parte de los sujetos de este acuerdo, aquélla se entenderá reformada lo mínimo necesario para hacer que dicha disposición sea válida y exigible.</li>
      <li>Ningún término o disposición de esta Licencia se estimará renunciada y ninguna violación de ella será consentida a menos que esa renuncia o consentimiento sea otorgado por escrito y firmado por la parte que renuncie o consienta.</li>
      <li>Esta Licencia refleja el acuerdo pleno entre las partes respecto a la Obra aquí licenciada. No hay arreglos, acuerdos o declaraciones respecto a la Obra que no estén especificados en este documento. El Licenciante no se verá limitado por ninguna disposición adicional que pueda surgir en alguna comunicación emanada de Usted. Esta Licencia no puede ser modificada sin el consentimiento mutuo por escrito del Licenciante y Usted.</li>
    </ol>
  </li>
  <br/>
</ol>
 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