La diversidad actual de tipos de dispositivos actúa como barrera para el aprendizaje de los mismo... more La diversidad actual de tipos de dispositivos actúa como barrera para el aprendizaje de los mismos. La variedad de los elementos de la interfaz así como sus diferentes funcionalidades, incluso en la misma categoría de productos y bajo la misma marca o compañía, incrementan la curva de aprendizaje para alcanzar un uso efectivo. En consecuencia, es de esencial importancia el diseño de la interfaz para conseguir una mejora sustancial del rendimiento y la satisfacción de los usuarios con necesidades específicas. Sobre la base de un paradigma inclusivo, en este trabajo proponemos mejorar la usabilidad, la accesibilidad y la satisfacción con la interfaz para un grupo específico de usuarios, el de las personas mayores sin experiencia tecnológica, en beneficio de todos los tipos de usuarios. En este trabajo se analizan los requisitos de aquellos usuarios, sus objetivos y el contexto de uso, para comprobar la eficacia de un nuevo tipo de interfaz simplificada. Este tipo de interfaz es el res...
ABSTRACT Nowadays, the vast majority of the tunnel inspection processes are performed manually by... more ABSTRACT Nowadays, the vast majority of the tunnel inspection processes are performed manually by qualified operators. The process is subjective and the operators need to face very uncomfortable and even dangerous conditions such as dust environments, absence of light, or toxic substance exposition. Robotic technology can overcome many of these disadvantages and provide quality inspections collecting different types of data. This paper presents the key aspects of tunnel inspection and a survey of the developed robotic tunnel inspection systems up to date. Additionally, two projects regarding automation of the processes involved and future trends will be discussed.
2014 IEEE-RAS International Conference on Humanoid Robots, 2014
ABSTRACT In this video we present a new controller for robots, called Zero-Friction Zero-Gravity ... more ABSTRACT In this video we present a new controller for robots, called Zero-Friction Zero-Gravity control. The controllers combine terms for compensating the forces exerted by gravity, and the forces of friction of motors and reductions. The consequence of applying this control to a robot (a humanoid robot arm in this case) result in a free movement, as if the robot were floating in space. Only the inertia drives the movements by zeroing the forces of friction and gravity. This control, when applied to an adequate robotic platform, could allow to simulate gravity free conditions of movement. A slightly different version of this controller, namely Low-Friction Zero-Gravity control, allows new forms of human-robot interaction. This controller introduces an attenuation variable for the friction compensation term, which makes a smooth and easy interaction with the robot possible, whose movement eventually stops due to the low friction. Experiments are performed using 1 DoF of an arm of the humanoid robot Teo.
This paper deals with alternative humanoid robot dynamics modelling, using the screw theory and L... more This paper deals with alternative humanoid robot dynamics modelling, using the screw theory and Lie groups called the special Euclidean group (SE(3)). The dynamic models are deduced analitically. The inverse dynamics model is obtained by the Lagrangian formulation under screw theory, when the Jacobian manipulator depends on the respective twist and joint angles; on the other hand, the POE formula drives a very natural and explicit description of the Jacobian manipulator without the drawbacks of local representation. The forward dynamics were solved by propagation method from an end-effector to the center of gravity (COG) always on the SE(3). Many tests for reference dynamic walking patterns have been carried out, which are represented in simulation and experimental results. The results will be discussed in order to validate the proposed algorithms.
Page 1. 24 Proprio and Teleoperation of a Robotic System for Disabled Persons&amp... more Page 1. 24 Proprio and Teleoperation of a Robotic System for Disabled Persons' Assistance in Domestic Environments Carlos Balaguer1, Antonio Giménez1, Alberto Jardón1, Raúl Correal1, Santiago Martınez1, Angelo M. Sabatini2, and Vincenzo Genovese2 ...
2013 IEEE International Conference on Systems, Man, and Cybernetics, 2013
ABSTRACT The study of Human Postural Control (HPC) system reveals the existence of an anticipativ... more ABSTRACT The study of Human Postural Control (HPC) system reveals the existence of an anticipative component for improving its performance. This anticipative subsystem is able to preview future consequences caused by a postural disturbance and, as well, to trigger corrective actions. This paper presents the novel high level architecture for the humanoid robot TEO based on the same principles than the human system. The core of the architecture is an anticipative system for predicting postural corrections based on the evaluation of unexpected events or surprises. Basically, these events are caused by the mismatch between sensory perceptions and the expected. The resulting surprise is used by a decision making system that decides whether a correction is necessary, and selects the adequate graded postural correction from a set of motion patterns or synergies. All the anticipative process is enabled by Neuro-Fuzzy modules that provide the system with human style reasoning behaviour.
Mobile Robotics - Solutions and Challenges - Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2010
La diversidad actual de tipos de dispositivos actúa como barrera para el aprendizaje de los mismo... more La diversidad actual de tipos de dispositivos actúa como barrera para el aprendizaje de los mismos. La variedad de los elementos de la interfaz así como sus diferentes funcionalidades, incluso en la misma categoría de productos y bajo la misma marca o compañía, incrementan la curva de aprendizaje para alcanzar un uso efectivo. En consecuencia, es de esencial importancia el diseño de la interfaz para conseguir una mejora sustancial del rendimiento y la satisfacción de los usuarios con necesidades específicas. Sobre la base de un paradigma inclusivo, en este trabajo proponemos mejorar la usabilidad, la accesibilidad y la satisfacción con la interfaz para un grupo específico de usuarios, el de las personas mayores sin experiencia tecnológica, en beneficio de todos los tipos de usuarios. En este trabajo se analizan los requisitos de aquellos usuarios, sus objetivos y el contexto de uso, para comprobar la eficacia de un nuevo tipo de interfaz simplificada. Este tipo de interfaz es el res...
ABSTRACT Nowadays, the vast majority of the tunnel inspection processes are performed manually by... more ABSTRACT Nowadays, the vast majority of the tunnel inspection processes are performed manually by qualified operators. The process is subjective and the operators need to face very uncomfortable and even dangerous conditions such as dust environments, absence of light, or toxic substance exposition. Robotic technology can overcome many of these disadvantages and provide quality inspections collecting different types of data. This paper presents the key aspects of tunnel inspection and a survey of the developed robotic tunnel inspection systems up to date. Additionally, two projects regarding automation of the processes involved and future trends will be discussed.
2014 IEEE-RAS International Conference on Humanoid Robots, 2014
ABSTRACT In this video we present a new controller for robots, called Zero-Friction Zero-Gravity ... more ABSTRACT In this video we present a new controller for robots, called Zero-Friction Zero-Gravity control. The controllers combine terms for compensating the forces exerted by gravity, and the forces of friction of motors and reductions. The consequence of applying this control to a robot (a humanoid robot arm in this case) result in a free movement, as if the robot were floating in space. Only the inertia drives the movements by zeroing the forces of friction and gravity. This control, when applied to an adequate robotic platform, could allow to simulate gravity free conditions of movement. A slightly different version of this controller, namely Low-Friction Zero-Gravity control, allows new forms of human-robot interaction. This controller introduces an attenuation variable for the friction compensation term, which makes a smooth and easy interaction with the robot possible, whose movement eventually stops due to the low friction. Experiments are performed using 1 DoF of an arm of the humanoid robot Teo.
This paper deals with alternative humanoid robot dynamics modelling, using the screw theory and L... more This paper deals with alternative humanoid robot dynamics modelling, using the screw theory and Lie groups called the special Euclidean group (SE(3)). The dynamic models are deduced analitically. The inverse dynamics model is obtained by the Lagrangian formulation under screw theory, when the Jacobian manipulator depends on the respective twist and joint angles; on the other hand, the POE formula drives a very natural and explicit description of the Jacobian manipulator without the drawbacks of local representation. The forward dynamics were solved by propagation method from an end-effector to the center of gravity (COG) always on the SE(3). Many tests for reference dynamic walking patterns have been carried out, which are represented in simulation and experimental results. The results will be discussed in order to validate the proposed algorithms.
Page 1. 24 Proprio and Teleoperation of a Robotic System for Disabled Persons&amp... more Page 1. 24 Proprio and Teleoperation of a Robotic System for Disabled Persons' Assistance in Domestic Environments Carlos Balaguer1, Antonio Giménez1, Alberto Jardón1, Raúl Correal1, Santiago Martınez1, Angelo M. Sabatini2, and Vincenzo Genovese2 ...
2013 IEEE International Conference on Systems, Man, and Cybernetics, 2013
ABSTRACT The study of Human Postural Control (HPC) system reveals the existence of an anticipativ... more ABSTRACT The study of Human Postural Control (HPC) system reveals the existence of an anticipative component for improving its performance. This anticipative subsystem is able to preview future consequences caused by a postural disturbance and, as well, to trigger corrective actions. This paper presents the novel high level architecture for the humanoid robot TEO based on the same principles than the human system. The core of the architecture is an anticipative system for predicting postural corrections based on the evaluation of unexpected events or surprises. Basically, these events are caused by the mismatch between sensory perceptions and the expected. The resulting surprise is used by a decision making system that decides whether a correction is necessary, and selects the adequate graded postural correction from a set of motion patterns or synergies. All the anticipative process is enabled by Neuro-Fuzzy modules that provide the system with human style reasoning behaviour.
Mobile Robotics - Solutions and Challenges - Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2010
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Papers by Santiago Martinez