Current research topics
2D / 3D modelling
The main objectives of this research area include Global Localization, Scan Matching, Loop Detection, and SLAM in 2D and 3D environments.
Actuators / Control
Arm control / Planning
The main objective of this research area is the arm control and planning of the LWR-UC3M-1, robotic arm of MANFRED-2.
Artificial muscles

The main goal of this research area is the development of Electroactive Polymer (EAP) based Bio-inspired Intelligent Materials and Mechanisms.

Assistive portable robots design
The main goal of this research area is to design and develop really portable assistive robotic devices able to be transported easily by the user in his daily trip from house to office, providing the assistance in both environments
Automatic 3D buildings design
The main objective of this research area is the development of a system that automates the construction process. The system seamlessly integrates architectural design, planning and simulation tools.
Automatic modular buildings assembly
The main objective of this research area is to introduce the new automation and robotics processes in the construction sector. The aim is not only to increase productivity, but also to improve work safety and hygiene conditions.
Biomedical Engineering
Biomedicine and robotics are destined to find common points and give rise to hybrid disciplines with a wide scope of results in medicine, molecular biology and robotics itself.
Computer aided mechatronics design
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.
Control of assistive robots
The assistance of disabled, elderly and persons with special needs become to be one of the most important service application of the robotic systems in the near future.
Control of mobile manipulators
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.
End user programming of social robots
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
Environment-robot control interaction
Research focused on the study of the control of robotic systems subjected to diferent environment condictions and actions.
Fast Marching
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.
Gaits of humanoids
The research in stable walking of humanoid robots is in general non-solved problem. Our research deals with the implementation of stable gait on 12 DOF Rh-0 and Rh-1 bipedal locomotion system.
Grasping / Learning
The main objective of this research area is learning how to identify the hand to manipulate objects without human interaction.
Hand control
The main objective of this research area is the development of manipulation abilities for the Gifu Hand III, including grasping and learning.
Hardware architecture for humanoids
Humanoid robot is complex system that must be carefully designed. Development of a hardware architecture is the first step to the integrated control system of a humanoid robot.
Human Robot Interaction based on dialogs
La interacción humano robot basada en diálogos es un campo de investigación amplio, entre los que se incluyen la interacción multimodal, esto es la interacción basada en voz, visión, tacto e inclusive otros modos. En nuestro grupo de investigación est
Humanoid head design
This research area deals with the development of a robotic head for the robot Rh-1. The head will be equipped with various sensors, such as cameras, microphones etc.
Humanoid motion planning
The humanoid robot bipedal locomotion requires computationally advanced and efficient algorithms to solve both, the global navigation with obstacle avoidance and the local mechanics movements problems.
Kinematic&dynamic design of humanoids
This research area deals with the development of a kinematic and dynamic design of humanoids robot Rh-0 and RH-1.
Motivations and emotional control
The main objective of this project is to design a decision making system, based on emotions and using unsupervised learning, for an autonomous and social robot.
Multimodal human-robot interaction
We have developed an Autonomous Personal Robot, Maggie, that is going to interact with the user in a Peer-To-Peer way. That implies multimodality, personality, adaptivity, autonomy, learning ability, cooperativeness, reactivity and proactiveness.
Object recognition
Postural plannification for humanoid robots
The objective of this research line is to investigate the different postural sequences that a robot must follow to perform high level tasks. These postures have to be parameterized in a general way to be able to apply dynamic movements algorithms.
Remote human-robot interaction
Remote interaction is a special type of human-robot interaction, where the human and the robot are separated by physical barriers but linked via telematic technologies.
Robotic hands
Design, Development and Control of Robotic Hands with special characteristics.
One of the most intense ambitions in robotic researches is to imitate a human hand, due to its several possible uses and its ability to interact with the enviroment.
Software architecture for humanoids

Design and development of the software needed to control a humanoid robot; from a friendly and easy-to-use HMI to the embedded components to command all joints movement.

Software architectures
The new bio-inspired Automatic-Deliberative (AD) architecture is endowed with a decision making system based on biologically inspired concepts such as drives, motivation, emotions, and self-learning, improving the autonomy and the livingbeing behaviours.
Topological and Semantic Navigation
Nowadays topological and semantic navigation is considered as the most human-close way of navigation for a mobile robot, which combines information and relation of the environment elements.
Visual human-robot interaction
The robot needs to develop the humans communication skills in order to allow its interaction with them. One of these human skills is the human vision system,here we present our system called Cognitive Emotive Visual System.
Visual tracking & servoing
The effort that we want to improve is focuses in the development of algorithms and techniques that allows an automatic adaptation of visual systems to changing environments
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