Research topics
The main objective of this research area is the development of a system that automates the service robot design process, (non available in the market). The design will be from different points of view: electro-mechanical, control and structural.
The search for the Grial of generalizing robot actions continues! In Continuous Goal-Directed Actions (CGDA), our robot imitation framework, an action is modelled as the changes it produces on the environment. First, record all the features you can off some user demonstrations. By features, we mean features! The robot joint q2 angle, a human hand Z coordinate, the percentage of a wall painted, the square of the room temperature plus ambient noise... Throw in a demonstration and feature selection algorithm, let it decide which demonstrations were consistent, and which features are relevant. You now have an action encoded as a CGDA model, which is essentially a multi-dimensional time series. As described in its first conference paper, recognition can be performed using costs such as those extracted by DTW, and execution can be achieved by evolutionary algorithms in a simulated environment. While we have performed some work in combining sequences of random movements, we are mostly content with the evolutionary strategies we later developed, such as IET. Additional references include the original S. Morante PhD thesis.
The assistance of disabled, elderly and persons with special needs becometo be one of the most important service application of the robotic systems in thenear future.
The force-torque control of mobile manipulator, and coordinated control of the mobile base and the manipulator permits to perform active human-mobile manipulator cooperation through intention recognition.
One of the main challenges faced by social robots is how to provide intuitive, natural and enjoyable usability for the End-User. In the human normal environment, social robots could be important tools for education and entertainment(edutainment), in a var
Research focused on the study of the control of robotic systems subjected to diferent environment condictions and actions.
The Fast Marching algorithm is very similar to the Dijkstra algorithm that finds the shortest paths on graphs, though it is applied to continuous media. The research focuses on how to improve these trajectories.