ISA - Artículos
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A directional vibrotactile feedback interface for ergonomic postural adjustment.
(IEEE, 2021-09-16)The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as ... -
Bayesian and neural inference on lstm-based object recognition from tactile and kinesthetic information
Pastor-Martín, Francisco; García-González, Jorge; Gandarias, Juan Manuel; Medina, Daniel; Closas, Pau; García-Cerezo, Alfonso José
; Gómez-de-Gabriel, Jesús Manuel[et al.] (IEEE, 2020-11-16)
Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile ... -
Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability
Fernández-Lozano, J. Jesús; Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús; Sánchez-Montero, Manuel; Morán, Mariano; Reina, Antonio J.[et al.] (MDPI, 2020)
Reactivity is a key component for autonomous vehicles navigating on natural terrains in order to safely avoid unknown obstacles. To this end, it is necessary to continuously assess traversability by processing on-board ... -
SLAM for Autonomous Planetary Rovers with Global Localization
Geromichalos, Dimitrios; Azkarate, Martin; Tsardoulias, Emmanouil; Gerdes, Levin; Petrou, Loukas; Pérez-del-Pulgar-Mancebo, Carlos Jesús[et al.] (Wiley, 2020-02-28)
This paper describes a novel approach to SLAM techniques applied to the autonomous planetary rover exploration scenario in order to reduce both the relative and absolute localization errors, using two well proven techniques: ... -
The Multi-Chamber Electronic Nose--an improved olfaction sensor for mobile robotics
González-Jiménez, Antonio Javier; González-Monroy, Javier; Blanco-Claraco, José Luis (MDPI, 2011-06-07)
One of the major disadvantages of the use of Metal Oxide Semiconductor (MOS) technology as a transducer for electronic gas sensing devices (e-noses) is the long recovery period needed after each gas exposure. This severely ... -
GADEN: a 3D gas dispersion simulator for mobile robot olfaction in realistic environments
González-Monroy, Javier; Hernández-Bennetts, Víctor; Fan, Han; Lilienthal, Achim; González-Jiménez, Antonio Javier (MDPI, 2017-06-23)
This work presents a simulation framework developed under the widely used Robot Operating System (ROS) to enable the validation of robotics systems and gas sensing algorithms under realistic environments. The framework is ... -
Gas Classification in Motion: An Experimental Analysis.
González-Monroy, Javier; González-Jiménez, Antonio Javier (Elsevier, 2016-09-08)
This work deals with the problem of volatile chemical classification with an electronic nose (e-nose), and particularly focuses on the case where the e-nose is not collecting samples in a stationary fashion but is carried ... -
Context-aware 3D object anchoring for mobile robots
Günther, Martin; Ruiz-Sarmiento, José Raúl; Galindo-Andrades, Cipriano; González-Jiménez, Antonio Javier; Hertzberg, Joachim (Elsevier, 2018)
A world model representing the elements in a robot’s environment needs to maintain a correspondence between the objects being observed and their internal representations, which is known as the anchoring problem. Anchoring ... -
Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots.
Zúñiga-Noël, David; Ruiz-Sarmiento, José Raúl; Gómez-Ojeda, Rubén; González-Jiménez, Antonio Javier (IEEE, 2019-06-12)
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method ... -
GND-LO: Ground Decoupled 3D Lidar Odometry Based on Planar Patches
Galeote-Luque, Andrés; Ruiz-Sarmiento, José Raúl; González-Jiménez, Antonio Javier (IEEE, 2023-09-07)
We present a new fast Ground Decoupled 3D Lidar Odometry (GND-LO) method. The particularity of GND-LO is that it takes advantage of the distinct spatial layout found in urban settings to efficiently recover the lidar movement ... -
Double reflection goniophotometer.
Muñoz-Martínez, Víctor Fernando; Serón-Barba, Javier; Molina-Mesa, Ricardo; Gómez-de-Gabriel, Jesús Manuel; Fernández-Lozano, Juan Jesús; García-Cerezo, Alfonso José[et al.] (IOP Publishing, 2006)
A positioning system and photometer as a whole are termed ‘goniophotometer’, which is defined as a specialized instrument for measuring the angular variation of a given photometric level. This paper explains the design ... -
Continuous Chemical Classification in Uncontrolled Environments with Sliding Windows.
González-Monroy, Javier; Palomo-Ferrer, Esteban José; López-Rubio, Ezequiel; Gonzalez-Jimenez, Antonio Javier (Elsevier, 2016-09-03)
Electronic noses are sensing devices able to classify chemical volatiles according to the readings of an array of non-selective gas sensors and some pattern recognition algorithm. Given their high versatility to host ... -
Time-variant gas distribution mapping with obstacle information
González-Monroy, Javier; Blanco-Claraco, José Luis; Gonzalez-Jimenez, Antonio Javier (Springer, 2015-05-08)
This paper addresses the problem of estimating the spatial distribution of volatile substances using a mobile robot equipped with an electronic nose (e-nose). Our work contributes an effective solution to two important ... -
Probabilistic gas quantification with MOX sensors in open sampling systems - a Gaussian Process approach
González-Monroy, Javier; Lilienthal, Achim; Blanco-Claraco, José Luis; Gonzalez-Jimenez, Antonio Javier; Trincavelli, Marco (Elsevier, 2013-06-24)
Gas quantification based on the response of an array of metal oxide (MOX) gas sensors in an Open Sampling System is a complex problem due to the highly dynamic characteristic of turbulent airflow and the slow dynamics of ... -
Static Tip-Over Stability Analysis for a Robotic Vehicle With a Single-Axle Trailer on Slopes Based on Altered Supporting Polygons.
Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Mandow, Anthony; Serón-Barba, Javier; García-Cerezo, Alfonso José (IEEE, 2013)
This paper analyzes the effect of towing a single-axle trailer on static tip-over stability for field mobile robots on slopes. For this purpose, this study defines altered supporting polygons (ASP) for both tractor and ... -
Upper-limb kinematic parameter estimation and localization using a compliant robotic manipulator.
Ruiz-Ruiz, Francisco J.; Gandarias Palacios, Juan Manuel; Pastor-Martín, Francisco; Gómez-de-Gabriel, Jesús Manuel (IEEE, 2021-03-18)
Assistive and rehabilitation robotics have gained momentum over the past decade and are expected to progress significantly in the coming years. Although relevant and promising research advances have contributed to these ... -
Using 3D Convolutional Neural Networks for Tactile Object Recognition with Robotic Palpation.
Pastor-Martín, Francisco; Gandarias Palacios, Juan Manuel; García-Cerezo, Alfonso José; Gómez-de-Gabriel, Jesús Manuel (MDPI, 2019-12-05)
In this paper, a novel method of active tactile perception based on 3D neural networks and a high-resolution tactile sensor installed on a robot gripper is presented. A haptic exploratory procedure based on robotic palpation ... -
Automation of the Arm-Aided Climbing Maneuver for Tracked Mobile Manipulators
Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Mandow, Anthony; Serón-Barba, Javier; García-Cerezo, Alfonso José (IEEE, 2013-04-02)
This paper analyzes the effect of towing a single-axle trailer on static tip-over stability for field mobile robots on slopes. For this purpose, this study defines altered supporting polygons (ASP) for both tractor and ... -
Open-loop position control in collaborative, modular Variable-Stiffness-Link (VSL) robots.
Gandarias Palacios, Juan Manuel; Wang, Yongjing; Stilli, Agostino; García-Cerezo, Alfonso José; Gómez-de-Gabriel, Jesús Manuel; Wurdemann, Helge[et al.] (IEEE, 2020-01-28)
Collaborative robots open up new avenues in the field of industrial robotics and physical Human-Robot Interaction (pHRI) as they are suitable to work in close approximation with humans. The integration and control of ... -
Enhancing Perception with Tactile Object Recognition in Adaptive Grippers for Human–Robot Interaction.
Gandarias Palacios, Juan Manuel; Gómez-de-Gabriel, Jesús Manuel; García-Cerezo, Alfonso José (MDPI, 2018-02-26)
The use of tactile perception can help first response robotic teams in disaster scenarios, where visibility conditions are often reduced due to the presence of dust, mud, or smoke, distinguishing human limbs from other ...