Hi!!
My name is Santiago Martínez de la Casa Díaz (quite long ;-)) and I work in different fields of robotics and automation in the Roboticslab Research Group from the Systems Engeneering and Automation Department.
Altough I actually belong to the Carlos III University, I started my studies on Industrial Engineering at the Alcala University. There, I received the degree on "Ingeniería Técnica Industrial. Esp. Electrónica y Automática". After that, I arrived to the Carlos III University of Madrid in 2000 and I started my career in this University. First of all, I completed my studies in Industrial Engineering in 2005 and then I started to work as researcher in the I.S.A. Department. More or less at the same time, I began the PhD Program on Electric, Electronics, and Industrial Automation Engineering. I received the M.Sc. Degree on Robotics and Automation in 2010 and, finally, I completed my Ph.D. on July 2012, with the Thesis titled "Human Inspired Humanoid Robot Control Architecture"
My research work and interests are related to:
ROBOTICS IN CONSTRUCTION:
From 2005 and during the next four years I was in charge of the 6FP EU Project ManuBuild related to automatization and robotization of construction processes. As well, I participated in the 6FP EU I3CON project in this field and other national projects like Tunconstruct, related to robotized tunnel maintenance.
ASSISTIVE ROBOTICS:
I participated in the development of the climbing and assistive robot ASIBOT (AKA MATS). I was awarded in the "Proyecto Final de Carrera" prize from the "Colegio Oficial de Ingenieros Industriales de Madrid". As well, the ASIBOT development team received an Infanta Cristina Prize from the IMSERSO.
HUMANOID ROBOTICS:
From 2009 I was in charge of the development of the humanoid robot TEO. The postural control of the robot was the subject of my Ph.D. Thesis.
Research fellowship: https://h2t.anthropomatik.kit.edu/21_1015.php
Journal Publications
Conference Publications
Publication |
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Conference
Whole-Body Postural Control Approach based on Multiple ZMP Evaluation in Humanoid Robots
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tuesday, 5 November, 2019, Macau, China J.M. Garcia-Haro, S. Martinez, E. D. Oña, J.G. Victores, C. Balaguer |
Conference
Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots
[Online]
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Tuesday, 15 October, 2019, Toronto, Canada J.M. Garcia-Haro, Bernd Henze, George Mesesan, S. Martinez, Christian Ott |
Conference
Evaluacion multi-ZMP para tareas de transporte de objetos en robots humanoides
[Online]
XL Jornadas de Automática, Wednesday, 4 September, 2019, Ferrol, A Coruña, España J.M. Garcia-Haro, S. Martinez, J. Hernández, C. Balaguer |
Conference
Multi-ZMP based Whole-Body Controller Approach in Humanoid Robots
Robótica e Inteligencia Artificial: Retos y nuevas oportunidades, Tuesday, 10 December, 2019, Madrid, Spain J.M. Garcia-Haro, Ignacio Montesino, J. Hernández, S. Martinez, C. Balaguer |
Conference
Modelo Simplificado para el transporte de objetos sin agarre en humanoides
Robótica e Inteligencia Artificial: Retos y nuevas oportunidades, Wednesday, 5 February, 2020, Madrid, Spain Ignacio Montesino, J.M. Garcia-Haro, J. Hernández, S. Martinez, C. Balaguer |
Conference
Hacia la bimanipulacion inteligente de cajas con robots humanoides
Robótica e Inteligencia Artificial: Retos y nuevas oportunidades, Tuesday, 10 December, 2019, Madrid, Spain J. Hernández, J.M. Garcia-Haro, Ignacio Montesino, S. Martinez, C. Balaguer |
Conference
Modelo Simplificado para el transporte de objetos sin agarre en humanoides
Robótica e Inteligencia Artificial: Retos y nuevas oportunidades, Monday, 31 January, 2022, Madrid, España I. Montesino, J.M. Garcia-Haro, J. Hernández, S. Martinez, C. Balaguer |
Conference
Detección de la Orientación mediante Visión Artificial para el Control de Equilibrio en Robots Humanoides
[Online]
XXXIX Jornadas de Automática, Wednesday, 5 September, 2018, Badajoz, Spain J.M. Garcia-Haro, S. Martinez, C. Balaguer |
Conference
Humanoid Balance Control based on Force/Torque and Visual Information
[Online]
Jornadas Nacionales de Robótica 2018, Thursday, 14 June, 2018, Valladolid, Spain J.M. Garcia-Haro, S. Martinez, C. Balaguer |
Conference
Balance Computation of Objects Transported on a Tray by a Humanoid Robot Based on 3D Dynamic Slopes
In Humanoid robots, 2018 IEEE-RAS International Conference on, Tuesday, 6 November, 2018, Beijing, China J.M. Garcia-Haro, S. Martinez, C. Balaguer |
Conference
Waiter Robot Application: Balance Control for Transporting Objects
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Wednesday, 3 October, 2018, Madrid, Spain J.M. Garcia-Haro, E. D. Oña, S. Martinez, J. Hernández, C. Balaguer |
Conference
Experimental Error Compensation of the Linear Inverted Pendulum Model for humanoid robot TEO
[Online]
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sunday, 24 September, 2017, Vancouver, BC, Canada J.M. Garcia-Haro, S. Martinez, M. Pinel, C. Balaguer |
Conference
Algoritmo de Captura de Movimiento basado en Visión por Computador para la Teleoperación de Robots Humanoides
[Online]
XXXVIII Jornadas de Automática, Wednesday, 6 September, 2017, Oviedo, Spain J.M. Garcia-Haro, S. Martinez |
Conference
Control of Robotic Arm for Transporting Objects based on Neuro-Fuzzy Learning Visual Information
[Online]
XXXVIII Jornadas de Automática, Wednesday, 6 September, 2017, Oviedo, Spain J. Hernández, J.M. Garcia-Haro, S. Martinez, C. Balaguer |
Conference
Manipulation Balance Control System by Computer Vision Tools
[Online]
RoboCity16 Open Conference on Future Trends in Robotics, Thursday, 26 May, 2016, Madrid, Spain J. Hernández, J.M. Garcia-Haro, S. Martinez, J. Lorente, C. Balaguer |
Conference
Waiter Robot : Advances in Humanoid Robot Research at UC3M
[Online]
RoboCity16 Open Conference on Future Trends in Robotics, Thursday, 26 May, 2016, Madrid, Spain J. Lorente, J.M. Garcia-Haro, S. Martinez, J. Hernández, C. Balaguer |
Conference
Towards Fully Automated Tunnel Inspection: A Survey and Future Trends
[Online]
31st International Symposium on Automation and Robotics in Construction and Mining (ISARC 2014), Wednesday, 9 July, 2014, Sydney, Australia C. Balaguer, R. Montero, J.G. Victores, S. Martinez, A. Jardon |
Conference
Extended Range Guidance System for the Teleoperation of Microtunnelling Machines
[Online]
31st International Symposium on Automation and Robotics in Construction and Mining (ISARC 2014), Monday, 9 June, 2014, Sydney, Australia A. Jardon, S. Martinez, J.G. Victores, C. Balaguer |
Conference
Sensorless Friction and Gravity Compensation
[Online]
IEEE RAS International Conference on Humanoid Robots (Humanoids 2014), Tuesday, 18 November, 2014, Madrid, Spain S. Morante, J.G. Victores, S. Martinez, C. Balaguer |
Conference
Extended range guidance system for micro-tunnelling machine
[Online]
International Symposium for Automation and Robotics in Construction 2012 (ISARC/Gerontechnology 2012). Vol. 11. Num. 2, Wednesday, 27 June, 2012, Eindhoven, The Netherlands A. Jardon, S. Martinez, J.G. Victores, C. Balaguer |
Conference
Experimental evaluation of assistive robots in virtual domestic scenarios
[Online]
International Symposium for Automation and Robotics in Construction (ISARC/Gerontechnology 2012). Vol. 11. Num. 2, Wednesday, 27 June, 2012, Eindhoven, The Netherlands A. Jardon, J.G. Victores, M.F. Stoelen, S. Martinez, C. Balaguer |
Conference
Interacción Humano-Robot a través de Interfaces en la Nube
[Online]
Robocity2030 9th Workshop, Monday, 30 May, 2011, Madrid, Spain J.G. Victores, A. Jardon, S. Morante, M.F. Stoelen, S. Martinez, C. Balaguer |
Conference
Methodologies for Experimental Evaluation of Assistive Robotics HRI
[Online]
ROBOCITY2030 9TH WORKSHOP: ROBOTS COLABORATIVOS E INTERACCION HUMANO-ROBOT, Monday, 30 May, 2011, Madrid, Spain M.F. Stoelen, A. Jardon, V. Tejada, J.G. Victores, S. Martinez, F. Bonsignorio, C. Balaguer |
Conference
SULTAN: Simultaneous User Learning and Task Execution, and its Application in Assistive Robotics
[Online]
Workshop on New and Emerging Technologies in Assistive Robotics at IROS 2011., Monday, 26 September, 2011, San Francisco, United States C. Balaguer, A. Jardon, C.A. Monje, F. Bonsignorio, M.F. Stoelen, S. Martinez, J.G. Victores |
Conference
Aplicación de teoría de la información para el modelado y cuantificación de la interacción persona-robot
[Online]
IV Congreso Internacional de Diseño, Redes de Investigación y Tecnología para todos (DRT4ALL), Tuesday, 28 June, 2011, Madrid, Spain A. Jardon, M.F. Stoelen, V. Tejada, J.G. Victores, S. Martinez, C. Balaguer, F. Bonsignorio |
Conference
Educational initiatives related with the CEABOT contest
[Online]
Int. Conf. on SIMULATION, MODELING and PROGRAMMING for AUTONOMOUS ROBOTS, Monday, 15 November, 2010, Darmstadt, Germany M. González-Fierro, A. Jardon, S. Martinez, M.F. Stoelen, J.G. Victores, C. Balaguer |
Conference
Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclidean Groups
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2010, Monday, 18 October, 2010, Taipei, China M. Arbulu, S. Martinez, A. Jardon, C.A. Monje, C. Balaguer |
Conference
R.A.T.I.M. Sistema Robótico de Inspección y Mantenimiento de Túneles
[Online]
Robocity2030 8th Workshop, Wednesday, 1 December, 2010, Arganda del Rey, Spain J.G. Victores, S. Martinez, A. Jardon, C. Balaguer |
Conference
ASIBOT Assistive Robot with Vision in a Domestic Environment
[Online]
Robocity2030 7th Workshop, Friday, 15 October, 2010, Móstoles, Spain J.G. Victores, M.F. Stoelen, S. Martinez, A. Jardon, C. Balaguer |
Conference
Dispositivo inalámbrico para facilitar el acceso al ordenador.
Congreso Internacional sobre Domótica, Robótica y Teleasistencia para Todos DRT4LL 2009, Thursday, 1 January, 2009, Barcelona, SPAIN S. Martinez, A. Jardon, C. Balaguer |
Conference
Robot-Aided Tunnel Inspection and Maintenance System
[Online]
26th International Symposium on Automation and Robotics in Construction (ISARC), Monday, 1 June, 2009, Austin, TX, USA J.G. Victores, S. Martinez, A. Jardon, C. Balaguer |
Conference
ASIBOT Assistive Robot in a Domestic Environment
[Online]
2nd ACM International Conference on PErvasiveTechnologies Related to Assistive Environments (PETRA), Tuesday, 9 June, 2009, Corfu, Greece A. Jardon, J.G. Victores, M.F. Stoelen, S. Martinez, C. Balaguer |
Conference
CEABOT: Nationalwide Little humanoid robots competition; rules, experiences and new challenges
Intl. Conf. on SIMULATION, MODELING and PROGRAMMING for AUTONOMOUS ROBOTS, Tuesday, 4 November, 2008, Venice. , ITALY P. Zafra, A. Gimenez, S. Martinez, A. Jardon |
Conference
Assistive robots dependability in domestic environment: the ASIBOT kitchen test bed
IARP-IEEE/RAS-EURON Joint Workshop on Shared Control for Robotic Ultra-operations, San Diego, California, Oct 28-30, 2007, Sunday, 28 October, 2007, San Diego, CA, EEUU A. Gimenez, S. Martinez, A. Jardon, C. Balaguer |
Conference
User-Oriented Interactive Building Design
23rd International Symposium on Automation and Robotics in Construction (ISARC 2006), Monday, 30 October, 2006, Tokyo, Japan S. Martinez, C. Balaguer |
Conference
User-In-The-Loop: Building Templates for Customized Social Housing
24th International Symposium on Automation & Robotics in Construction (ISARC'2007), Friday, 21 September, 2007, Kochi (Kerala), India S. Martinez, C. Balaguer |
Conference
Robotized lean assembly in the construction industry
25th International Symposium on Automation and Robotics in Construction (ISARC'2008), Tuesday, 10 June, 2008, Vilnius, Lituania A. Gimenez, S. Martinez, A. Jardon, C. Balaguer |
Conference
RH-2 an Upgraded full-size humanoid platform
12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09), Thursday, 10 September, 2009, Istanbul, Turkey M. Arbulu, L.A. Pabon, P. Pierro, C. Perez, S. Martinez, C. Balaguer |
Conference
Aiming for multibody dynamics on stable humanoid motion with Special Euclideans groups, called SE(3) (Accepted)
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Monday, 18 October, 2010, Taipei, Taiwan M. Arbulu, S. Martinez, A. Jardon, C.A. Monje, C. Balaguer |
Conference
Human-Robot Coexistence in Robot-Aided Apartment
The 23rd International Symposium on Automation and Robotics in Construction (ISARC 2006), Monday, 30 October, 2006, Tokyo, Japan R. Cabas, R. Correal, A. Gimenez, S. Martinez, A. Jardon, C. Balaguer |
Conference
uSLAM Implementation for Autonomous Underground Robot
[Online]
IEEE Smart World Congress 2019 (SmartWorld'19), Monday, 19 August, 2019, Leicester, United Kingdom E. Menéndez, S. Martinez, M. Marín, C. Balaguer |
Patents
Publication |
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Patent
Sistema y método para la verificación de la trayectoria de un túnel
[Online]
. ref: WO 2014191603. . 2013, A. Jardon, Rafael Portero Hernández, S. Martinez, Marc Martí Cardona, J.G. Victores, C. Balaguer |
Patent
Tool and method for the automatic remote application of strips of fibre-reinforced polymer tape, comprising the dispensing of epoxy adhesive
[Online]
. ref: WO 2011138481 A1. . 2011, J.G. Victores, S. Martinez, A. Jardon, C. Balaguer |
Patent
Three axis tactile sensor SENSOR TÁCTIL DE TRES EJES
. ref: P200901904. . 2009, S. Martinez, C. Perez, A. Jardon, C. Balaguer |
Books
Publication |
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Book
Robot for Autonomous Underground Trenchless Operations, Mapping and Navigation System Handbook
[Online]
, . Universidad Carlos III de Madrid, ISBN: 978-84-09-12506-7, 2019, Leganés (Madrid) S. Martinez, Sandra Alvarez, C. Balaguer |
Book
Advances in Intelligent Systems and Computing Vol 418
[Online]
chapter: Force-Sensorless Friction and Gravity Compensation for Robots, pages: 57 - 68. Springer International Publishing, ISBN: 978-3-319-27148-4, 2015, S. Morante, J.G. Victores, S. Martinez, C. Balaguer |
Book
ROBOT2013: First Iberian Robotics Conference, Advances in Robotics, Vol.2
[Online]
chapter: A Review of Eight Years of CEABOT Contest: A National Wide Mini Humanoids Competition, pages: 41 - 52. Springer International Publishing, ISBN: 9783319036526, 2014, A. Jardon, F. Rodriguez, J.G. Victores, S. Martinez, C. Balaguer |
Book
Grasping in Robotics
chapter: A survey on different control techniques for grasping, pages: 223 - 246. SPRINGER NETHERLANDS EDITORIAL, ISBN: 978-3-540-71363, 2013, R. Cabas, A. Gimenez, S. Martinez, A. Jardon, C. Balaguer |
Book
ADVANCED MECHANICS IN ROBOTICS SYSTEMS
chapter: Human Centered Mechatronics , pages: 75 - 91. SPRINGER TRACSPRINGER NETHERLANDS EDITORIAL:London Dordrecht Heidelberg; New York, Nestor Eduardo (Ed.) 1st Edition., 2011, IX, 105 p. 53 illus., ISBN: 978-0-85729-587, 2011, S. Martinez, A. Jardon |
Book
Robots personales y asistenciales
chapter: ASIBOT: robot portátil de asistencia a discapacitados. Concepto, arquitectura de control y evaluación clínica, pages: 127 - 144. Universidad Carlos III de Madrid, ISBN: 978-84-691-3824, 2008, R. Pacheco, R. Correal, A. Gimenez, S. Martinez, A. Jardon, R. Barber, C. Balaguer, M.A. Salichs |
Book
Open Building Manufacturing
[Online]
chapter: User Interactive Building Design, pages: 306 - 319. ManuBuild, ISBN: 978-951-38-6352-4, 2007, Finland S. Martinez, C. Barcena, C. Balaguer, C. Bosch, J.M. Navarro, A. Rubio |
Book
ADVANCES IN TELEROBOTICS
chapter: Proprio & Teleoperation of a robotic system for disabled people assistance in domestic environments
[online]
, pages: 325 - 338. Springer Tracts in Advanced Robotics (STAR), vol. 31
SPRINGER NETHERLANDS EDITORIAL, ISBN: 978-3-540-71363, 2007, R. Correal, A. Gimenez, S. Martinez, A. Jardon, C. Balaguer |
Doctoral Thesis (supervisor)
Publication |
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Thesis
Object Oriented Control System in Humanoid Robots for Transport Tasks
[Online]
University Carlos III of Madrid, 2020 J.M. Garcia-Haro |
Doctoral Thesis (author)
Publication |
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Thesis
Human Inspired Humanoid Robot Control Architecture
, 2012 S. Martinez |