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Concepción A. Monje received her MSc. Degree in Electronics Engineering from the Industrial Engineering School of the University of Extremadura, Spain, in 2001, and her Ph.D. Degree in Industrial Engineering from the University of Extremadura, Spain, in 2006. In September 2006 she joined the University Carlos III of Madrid as a Visiting Professor in the Department of Electronics and Electromechanical Engineering, where she is currently an Associate Professor. Her research focuses on control theory and applications of fractional calculus to control systems and robotics. She has been Principal Investigator in several EU and National research projects mainly related to these topics and has published over 200 technical papers on these fields.
Soft robotics is becoming an emerging solution to many of the problems in robotics, such as weight, cost and human interaction. In order to overcome such problems, bio-inspired designs have introduced new actuators, links and architectures. However, the complexity of the required models for control has increased dramatically and geometrical model approaches, widely used to model rigid dynamics, are not enough to model these new hardware types. In this paper, different linear and non-linear models will be used to model a soft neck consisting of a central soft link actuated by three motor-driven tendons. By combining the force on the different tendons, the neck is able to perform a motion similar to that of a human neck. In order to simplify the modeling, first a system input–output redefinition is proposed, considering the neck pitch and roll angles as outputs and the tendon lengths as inputs. Later, two identification strategies are selected and adapted to our case: set membership, a data-driven, nonlinear and non-parametric identification strategy which needs no input redefinition; and Recursive least-squares (RLS), a widely recognized identification technique. The first method offers the possibility of modeling complex dynamics without specific knowledge of its mathematical representation. The selection of this method was done considering its possible extension to more complex dynamics and the fact that its impact in soft robotics is yet to be studied according to the current literature. On the other hand, RLS shows the implication of using a parametric and linear identification in a nonlinear plant, and also helps to evaluate the degree of nonlinearity of the system by comparing the different performances. In addition to these methods, a neural network identification is used for comparison purposes. The obtained results validate the modeling approaches proposed.
Fernando Quevedo; Jorge Muñoz; Juan Castano Pena; Concepción Monje. 3D Model Identification of a Soft Robotic Neck. Mathematics 2021, 9, 1652 .
AMA StyleFernando Quevedo, Jorge Muñoz, Juan Castano Pena, Concepción Monje. 3D Model Identification of a Soft Robotic Neck. Mathematics. 2021; 9 (14):1652.
Chicago/Turabian StyleFernando Quevedo; Jorge Muñoz; Juan Castano Pena; Concepción Monje. 2021. "3D Model Identification of a Soft Robotic Neck." Mathematics 9, no. 14: 1652.
Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square—for the planning phase—and a simple priority-based speed control—as the method for conflict resolution—is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles while they carry out their missions in a simulated 3D urban environment. The performance of the algorithm is evaluated successfully on the basis of certain conveniently chosen statistical measures that are collected throughout the simulation runs.
Blanca López; Javier Muñoz; Fernando Quevedo; Concepción Monje; Santiago Garrido; Luis Moreno. Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments. Sensors 2021, 21, 4414 .
AMA StyleBlanca López, Javier Muñoz, Fernando Quevedo, Concepción Monje, Santiago Garrido, Luis Moreno. Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments. Sensors. 2021; 21 (13):4414.
Chicago/Turabian StyleBlanca López; Javier Muñoz; Fernando Quevedo; Concepción Monje; Santiago Garrido; Luis Moreno. 2021. "Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments." Sensors 21, no. 13: 4414.
A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.
Luis Nagua; Carlos Relaño; Concepción Monje; Carlos Balaguer. A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications. Mathematics 2021, 9, 1468 .
AMA StyleLuis Nagua, Carlos Relaño, Concepción Monje, Carlos Balaguer. A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications. Mathematics. 2021; 9 (13):1468.
Chicago/Turabian StyleLuis Nagua; Carlos Relaño; Concepción Monje; Carlos Balaguer. 2021. "A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications." Mathematics 9, no. 13: 1468.
This paper presents a proposal of a modular robot with origami structure. The proposal is based on a self-scalable and modular link made of soft parts. The kinematics of a single link and several links interconnected is studied and validated. Besides, the link has been prototyped, identified, and controlled in position. The experimental data show that the system meets the scalability requirements and that its response is totally reliable and robust.
Lisbeth Mena; Jorge Muñoz; Concepción Monje; Carlos Balaguer. Modular and Self-Scalable Origami Robot: A First Approach. Mathematics 2021, 9, 1324 .
AMA StyleLisbeth Mena, Jorge Muñoz, Concepción Monje, Carlos Balaguer. Modular and Self-Scalable Origami Robot: A First Approach. Mathematics. 2021; 9 (12):1324.
Chicago/Turabian StyleLisbeth Mena; Jorge Muñoz; Concepción Monje; Carlos Balaguer. 2021. "Modular and Self-Scalable Origami Robot: A First Approach." Mathematics 9, no. 12: 1324.
Editorial on the Research Topic Advances in Modelling and Control of Soft Robots The emerging field of soft robotics is nowadays looking at innovative ways to create and apply robotic technology in our lives. It is a relatively new domain in the field of robotics, but one that has a lot of potential to change how we relate with robots and also how they are used. In natural environments and human-centric operations, where safety and adaptability to uncertainty are fundamental requirements, soft robots may beneficially show these characteristics: they can conform to variable but sensitive environments, adaptively move, manipulate and grasp unknown objects varying in size and shape and their soft condition allows them to squeeze through confined spaces. In addition to the many challenges and research achievements on the material side, actuation and sensing techniques, and fabrication technologies, the questions on how to model soft robots and how to control their movements are challenging scientifically and important from the application perspective. Classical control approaches in robotics are nonlinear-model-based. However, the highly complex and nonlinear models necessary for a soft robotic system make this approach a difficult task and therefore seem to come to a limit in the presence of soft robots. Therefore, other methods have been applied seemingly being more useful in this context, such as learning-based control algorithms, model-free approaches like bang-bang control, control algorithms motivated by neuroscience, or morphological computation. These methods add new perspectives to the well-known model-based approach. Such research challenges and the current achievements in the field have been discussed by the soft robotics community in a second forum on this topic, at the second workshop on “Advances in Soft Robots Control”, held on November 4th, 2019, in Macau, China, during the 2019 IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS 2019). The workshop wanted to answer questions like “Do we have to rethink the basic approach in robot control, which is model-based, when it comes to controlling soft robotic systems?” The papers collected in this issue come from that discussion and compose the pictures of the achievements presented, with extensions following the discussion and analysis done in that interactive context. They cover achievements from the theoretical modeling of soft robots to their control, up to specific application-driven developments. A few works answer the workshop question by rethinking the modeling approaches and techniques. They address dynamic modeling and related control of soft robots, starting from the current approaches based on statics, or second-order dynamics, and model predictive control (MPC), using basic lumped-parameters. Thuruthel et al. show how the dynamic model of a soft robot can be reduced to first-order dynamical equation, thanks to high damping and low inertia, with minimal loss in accuracy. The work by Hyatt et al. demonstrates that online model adaptation is key in soft robot dynamic modeling and shows their results with a model predictive control. It is based on the widely adopted piecewise constant curvature (PCC) assumption and shows an adaptive behavior, thanks to a model reference adaptive control. Dutra Gollob et al. present a model for predicting the output force profile of their vacuum-powered soft actuators, that uses a simplified geometrical approach and the principle of virtual work. The paper by Suphapol Diteesawat et al. addresses the specific case of electro-ribbon actuators, promising in soft robotics and challenging for control, as they exhibit pull-in instability and a very narrow contraction range for feedforward control: small contraction below the pull-in voltage threshold, complete contraction above that. The authors can access intermediate steady-states, not accessible using traditional feed-forward control, with a time-varying voltage profile that starts above pull-in threshold but is reduced afterward. Schiller et al. move the focus on the whole robot body. They control the gait of a multi-limb robot by closing the control loop in Cartesian space, under the assumption of constant curvature (CC) and by reducing the joint space dimension from nine to two, describing the robot velocity space, i.e., the walking speed and the rotational speed. Angelini et al. also take a higher view and introduce a hierarchical, two-level, control architecture that takes neuroscience findings to ensure natural movements in articulated soft robots, such as learning by repetition, anticipatory behavior, reactive re-planning. It combines the low level of dynamic inversion and trajectory tracking with the high level that manages the degree of freedom (DOF) redundancy, allowing to control the system through a reduced set of variables. Another way to rethink the basic approach in robot control, as in the workshop question, is by moving from model-based to model-free approaches. In the work by Al-Ibadi et al., a neural network (NN) controller laid in parallel with a proportional controller (P) tracks the non-linear behavior (elongation and bending) of a pneumatic muscle actuator (PMA). The parallel neural network proportional (PNNP) controllers provide a high level of precision and fast-tracking control system. Some other works address the workshop question by outlining the importance of sensing and showing its instrumental role in control. Ibrahim et al. add sensing (an inertial measurement unit (IMU) and pressure sensing) to their fiber-reinforced actuator to couple it with PCC modeling and close the control loop on pressure and chamber lengths. Rupert et al. also address sensing and propose methods for placing length sensors on a soft continuum robot joint and for configuration estimation, with drastic error reduction. Chen et al. instead propose a different viewpoint and show how we can use...
Concepción Alicia Monje Micharet; Cecilia Laschi. Editorial: Advances in Modeling and Control of Soft Robots. Frontiers in Robotics and AI 2021, 8, 1 .
AMA StyleConcepción Alicia Monje Micharet, Cecilia Laschi. Editorial: Advances in Modeling and Control of Soft Robots. Frontiers in Robotics and AI. 2021; 8 ():1.
Chicago/Turabian StyleConcepción Alicia Monje Micharet; Cecilia Laschi. 2021. "Editorial: Advances in Modeling and Control of Soft Robots." Frontiers in Robotics and AI 8, no. : 1.
Tip control is a current open issue in soft robotics; therefore, it has received a good amount of attention in recent years. The desirable soft characteristics of these robots turn a well-solved problem in classic robotics, like the end-effector kinematics and dynamics, into a challenging problem. The high redundancy condition of these robots hinders classical solutions, resulting in controllers with very high computational costs. In this paper, a simplification is proposed in the actuation setup of the I-Support soft robot, allowing the use of simple strategies for tip inclination control. In order to verify the proposed approach, inclination step input and trajectory-tracking experiments were performed on a single module of the I-Support robot, resulting in zero output error in all cases, including those where the system was exposed to disturbances. The comparative results of the proposed controllers, a proportional integral derivative (PID) and a fractional order robust (FOPI) controller, validate the feasibility of the proposed approach, showing a clear advantage in the use of the fractional robust controller for the tip inclination control of the I-Support robot compared to the integer order controller.
Jorge Muñoz; Francesco Piqué; Concepción A. Monje; Egidio Falotico. Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot. Mathematics 2021, 9, 702 .
AMA StyleJorge Muñoz, Francesco Piqué, Concepción A. Monje, Egidio Falotico. Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot. Mathematics. 2021; 9 (7):702.
Chicago/Turabian StyleJorge Muñoz; Francesco Piqué; Concepción A. Monje; Egidio Falotico. 2021. "Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot." Mathematics 9, no. 7: 702.
This work presents a modeling and controller tuning method for non-rational systems. First, a graphical tool is proposed where transfer functions are represented in a four-dimensional space. The magnitude is represented in decibels as the third dimension and a color code is applied to represent the phase in a fourth dimension. This tool, which is called Phase Magnitude (PM) diagram, allows the user to visually obtain the phase and the magnitude that have to be added to a system to meet some control design specifications. The application of the PM diagram to systems with non-rational transfer functions is discussed in this paper. A fractional order Proportional Integral Derivative (PID) controller is computed to control different non-rational systems. The tuning method, based on evolutionary computation concepts, relies on a cost function that defines the behavior in the frequency domain. The cost value is read in the PM diagram to estimate the optimum controller. To validate the contribution of this research, four different non-rational reference systems have been considered. The method proposed here contributes first to a simpler and graphical modeling of these complex systems, and second to provide an effective tool to face the unsolved control problem of these systems.
Santiago Garrido; Concepción A. Monje; Fernando Martín; Luis Moreno. Design of Fractional Order Controllers Using the PM Diagram. Mathematics 2020, 8, 2022 .
AMA StyleSantiago Garrido, Concepción A. Monje, Fernando Martín, Luis Moreno. Design of Fractional Order Controllers Using the PM Diagram. Mathematics. 2020; 8 (11):2022.
Chicago/Turabian StyleSantiago Garrido; Concepción A. Monje; Fernando Martín; Luis Moreno. 2020. "Design of Fractional Order Controllers Using the PM Diagram." Mathematics 8, no. 11: 2022.
Replicating the behavior and movement of living organisms to develop robots which are better adapted to the human natural environment is a major area of interest today. Soft device development is one of the most promising and innovative technological fields to meet this challenge. However, soft technology lacks of suitable actuators, and therefore, development and integration of soft actuators is a priority. This article presents the development and control of a soft robotic neck which is actuated by a flexible Shape Memory Alloy (SMA)-based actuator. The proposed neck has two degrees of freedom that allow movements of inclination and orientation, thus approaching the actual movement of the human neck. The platform we have developed may be considered a real soft robotic device since, due to its flexible SMA-based actuator, it has much fewer rigid parts compared to similar platforms. Weight and motion noise have also been considerably reduced due to the lack of gear boxes, housing and bearings, which are commonly used in conventional actuators to reduce velocity and increase torque.
Dorin Copaci; Jorge Munoz; Ignacio Gonzalez; Concepcion A. Monje; Luis Moreno. SMA-Driven Soft Robotic Neck: Design, Control and Validation. IEEE Access 2020, 8, 199492 -199502.
AMA StyleDorin Copaci, Jorge Munoz, Ignacio Gonzalez, Concepcion A. Monje, Luis Moreno. SMA-Driven Soft Robotic Neck: Design, Control and Validation. IEEE Access. 2020; 8 ():199492-199502.
Chicago/Turabian StyleDorin Copaci; Jorge Munoz; Ignacio Gonzalez; Concepcion A. Monje; Luis Moreno. 2020. "SMA-Driven Soft Robotic Neck: Design, Control and Validation." IEEE Access 8, no. : 199492-199502.
This article proposes an adaptive fractional feedback control using recursive least squares algorithm for plant identification and a recent real-time method (iso-m) for fractional controller tuning. The combination of both methods allows keeping the same original performance specifications invariant, combining adaptability and robustness in a single scheme. Thanks to the robust controller, the system performance is maintained around a specified operating point, and due to the adaptive scheme, this operating point is adjusted depending on plant changes. Extensive experimentation of the proposal is carried out in a real platform with non-linear time varying properties, a soft robotic neck made of 3D printer soft materials. The experiments proposed consist in the neck inclination control using tilt sensors installed on the tip. According to expectations, an invariant performance despite plant parameter changes was observed throughout the experiments. The good results obtained in the proposed test platform suggest that the benefits of this control scheme are suitable for other nonlinear time varying applications.
Jorge Munoz; Dorin S. Copaci; Concepcion A. Monje; Dolores Blanco; Carlos Balaguer. Iso-m Based Adaptive Fractional Order Control With Application to a Soft Robotic Neck. IEEE Access 2020, 8, 198964 -198976.
AMA StyleJorge Munoz, Dorin S. Copaci, Concepcion A. Monje, Dolores Blanco, Carlos Balaguer. Iso-m Based Adaptive Fractional Order Control With Application to a Soft Robotic Neck. IEEE Access. 2020; 8 ():198964-198976.
Chicago/Turabian StyleJorge Munoz; Dorin S. Copaci; Concepcion A. Monje; Dolores Blanco; Carlos Balaguer. 2020. "Iso-m Based Adaptive Fractional Order Control With Application to a Soft Robotic Neck." IEEE Access 8, no. : 198964-198976.
This article treats the design and implementation of a multi-input multi-output fractional-order controller for a nonlinear system composed of a tendon-driven continuum mechanism. As the continuum can be deformed along all Cartesian directions, it is suitable for the application as a flexible neck of a humanoid robot. In this work, a model-based control approach is proposed to control the position of the head, that is, the rigid body attached to the top of the continuum mechanism. Herein, the system is modeled as a rigid body on top of a nonlinear Cartesian spring, with an experimentally obtained deflection characteristic which provides a simple and real-time capable model. By nonlinear feedback, the output dynamics are linearized and decoupled, which enables the design of single-input single-output fractional-order controllers for the regulation of each output independently. The design of a fractional-order [Formula: see text] controller is discussed to incorporate robustness and a fast transient response. The proposed control approach is tested in several experiments on the real system.
Bastian Deutschmann; Concepción A Monje; Christian Ott. Multi-input multi-output fractional-order control of an underactuated continuum mechanism. International Journal of Advanced Robotic Systems 2020, 17, 1 .
AMA StyleBastian Deutschmann, Concepción A Monje, Christian Ott. Multi-input multi-output fractional-order control of an underactuated continuum mechanism. International Journal of Advanced Robotic Systems. 2020; 17 (6):1.
Chicago/Turabian StyleBastian Deutschmann; Concepción A Monje; Christian Ott. 2020. "Multi-input multi-output fractional-order control of an underactuated continuum mechanism." International Journal of Advanced Robotic Systems 17, no. 6: 1.
Editorial: Advances in Soft Robotics Based on Outputs From IROS 2018
Concepción A. Monje; Cecilia Laschi. Editorial: Advances in Soft Robotics Based on Outputs From IROS 2018. Frontiers in Robotics and AI 2020, 7, 1 .
AMA StyleConcepción A. Monje, Cecilia Laschi. Editorial: Advances in Soft Robotics Based on Outputs From IROS 2018. Frontiers in Robotics and AI. 2020; 7 ():1.
Chicago/Turabian StyleConcepción A. Monje; Cecilia Laschi. 2020. "Editorial: Advances in Soft Robotics Based on Outputs From IROS 2018." Frontiers in Robotics and AI 7, no. : 1.
This work deals with the control design and development of an automated car-following strategy that further increases robustness to vehicle dynamics uncertainties. The control algorithm is applied on a hierarchical architecture where high and low level control layers are designed for gap-control and desired acceleration tracking, respectively. A fractional-order controller is proposed due to its flexible frequency shape, fulfilling more demanding design requirements. The iso-damping loop property is sought, which yields a desired closed-loop stability that results invariant despite changes on the controlled plant gain. In addition, the graphical nature of the proposed design approach demonstrates its portability and applicability to any type of vehicle dynamics without complex reconfiguration. The algorithm benefits are validated in frequency and time domains, as well as through experiments on a real vehicle platform performing adaptive cruise control.
Carlos Flores; Jorge Muñoz; Concepción A. Monje; Vicente Milanés; Xiao-Yun Lu. Iso-damping fractional-order control for robust automated car-following. Journal of Advanced Research 2020, 25, 181 -189.
AMA StyleCarlos Flores, Jorge Muñoz, Concepción A. Monje, Vicente Milanés, Xiao-Yun Lu. Iso-damping fractional-order control for robust automated car-following. Journal of Advanced Research. 2020; 25 ():181-189.
Chicago/Turabian StyleCarlos Flores; Jorge Muñoz; Concepción A. Monje; Vicente Milanés; Xiao-Yun Lu. 2020. "Iso-damping fractional-order control for robust automated car-following." Journal of Advanced Research 25, no. : 181-189.
Heavy duty gas turbines have long played an important role in energy production. Advanced turbine designs are expected to be highly efficient, able to quickly ramp the output power up and down and promptly tolerate loading variations without breaching emissions regulations. Control design plays an important role in ensuring high efficiency and performance of gas turbines. This paper proposes a fractional order fuzzy-PID approach for a heavy-duty gas turbine. The controller gains are optimized using a Firefly algorithm enhanced with a dynamic parameter selection. This latter is used to speed up the convergence rate of the Firefly algorithm, optimize the gains of the fractional order fuzzy-PID and enhance the performance and efficiency of the gas turbine. The proposed approach is implemented to the speed loop of a gas turbine in order to maintain the output temperature and the turbine’s speed within their desired values during either a sudden change in loading or a drop in frequency. A comparison analysis with a standard Firefly algorithm-based approach was carried out to further assess the performance of the proposed evolved firefly algorithm-based approach.
Vahab Haji Haji; Afef Fekih; Concepción A. Monje. A Dynamic Firefly Algorithm-Based Fractional Order Fuzzy-PID Approach for the Control of a Heavy-Duty Gas Turbine. IFAC-PapersOnLine 2020, 53, 11913 -11919.
AMA StyleVahab Haji Haji, Afef Fekih, Concepción A. Monje. A Dynamic Firefly Algorithm-Based Fractional Order Fuzzy-PID Approach for the Control of a Heavy-Duty Gas Turbine. IFAC-PapersOnLine. 2020; 53 (2):11913-11919.
Chicago/Turabian StyleVahab Haji Haji; Afef Fekih; Concepción A. Monje. 2020. "A Dynamic Firefly Algorithm-Based Fractional Order Fuzzy-PID Approach for the Control of a Heavy-Duty Gas Turbine." IFAC-PapersOnLine 53, no. 2: 11913-11919.
The problem of changing the dynamics of an existing DC motor control system without the need of making internal changes is considered in the paper. In particular, this paper presents a method for incorporating fractional-order dynamics in an existing DC motor control system with internal PI or PID controller, through the addition of an external controller into the system and by tapping its original input and output signals. Experimental results based on the control of a real test plant from MATLAB/Simulink environment are presented, indicating the validity of the proposed approach.
Aleksei Tepljakov; Emmanuel A. Gonzalez; Eduard Petlenkov; Juri Belikov; Concepción A. Monje; Ivo Petráš. Incorporation of fractional-order dynamics into an existing PI/PID DC motor control loop. ISA Transactions 2016, 60, 262 -273.
AMA StyleAleksei Tepljakov, Emmanuel A. Gonzalez, Eduard Petlenkov, Juri Belikov, Concepción A. Monje, Ivo Petráš. Incorporation of fractional-order dynamics into an existing PI/PID DC motor control loop. ISA Transactions. 2016; 60 ():262-273.
Chicago/Turabian StyleAleksei Tepljakov; Emmanuel A. Gonzalez; Eduard Petlenkov; Juri Belikov; Concepción A. Monje; Ivo Petráš. 2016. "Incorporation of fractional-order dynamics into an existing PI/PID DC motor control loop." ISA Transactions 60, no. : 262-273.
Verónica González; Concepción A. Monje; Luis Moreno; Carlos Balaguer. Fast Marching Square Method for UAVs Mission Planning with consideration of Dubins Model Constraints. IFAC-PapersOnLine 2016, 49, 164 -169.
AMA StyleVerónica González, Concepción A. Monje, Luis Moreno, Carlos Balaguer. Fast Marching Square Method for UAVs Mission Planning with consideration of Dubins Model Constraints. IFAC-PapersOnLine. 2016; 49 (17):164-169.
Chicago/Turabian StyleVerónica González; Concepción A. Monje; Luis Moreno; Carlos Balaguer. 2016. "Fast Marching Square Method for UAVs Mission Planning with consideration of Dubins Model Constraints." IFAC-PapersOnLine 49, no. 17: 164-169.
Presents information on the 2014 IEEE-RAS International Conference on Humanoid Robots.
Concepción A. Monje; Carlos Balaguer. 2014 IEEE-RAS International Conference on Humanoid Robots [Society News]. IEEE Robotics & Automation Magazine 2015, 22, 102 -103.
AMA StyleConcepción A. Monje, Carlos Balaguer. 2014 IEEE-RAS International Conference on Humanoid Robots [Society News]. IEEE Robotics & Automation Magazine. 2015; 22 (2):102-103.
Chicago/Turabian StyleConcepción A. Monje; Carlos Balaguer. 2015. "2014 IEEE-RAS International Conference on Humanoid Robots [Society News]." IEEE Robotics & Automation Magazine 22, no. 2: 102-103.
In recent years, Automated Planning (AP) has experienced important advances. In this study we apply such advances to the field of Mobile Assistive Robots (MAR). In particular, we propose the use of AP to implement the deliberative step between observation and action execution in MAR. First, we analyze the requirements that allow a MAR to plan navigation and manipulation actions in near real time. The intention is to build the foundation for a planning module within the Simultaneous User Learning and TAsk executioN (SULTAN) architecture, allowing a MAR to perform Daily Life Activities (DLA) in humanlike environments. Second, we apply AP techniques in fully observable, deterministic and static simulated environments with a single MAR. In addition, we analyze and compare the best available satisficing automated planners. The selected planners participate in several experiments to obtain plans for a Planning Domain Definition Language (PDDL) based on the Tidybot domain. Finally, in order to know how competitive the selected planners are, we compare the experimental results in detail.
Jorge Brea; Concepción A. Monje; Ángel García-Olaya; Carlos Balaguer. A STUDY FOR THE APPLICATION OF AUTOMATED PLANNING TO MOBILE ASSISTIVE ROBOTS. Cybernetics and Systems 2014, 45, 512 -529.
AMA StyleJorge Brea, Concepción A. Monje, Ángel García-Olaya, Carlos Balaguer. A STUDY FOR THE APPLICATION OF AUTOMATED PLANNING TO MOBILE ASSISTIVE ROBOTS. Cybernetics and Systems. 2014; 45 (6):512-529.
Chicago/Turabian StyleJorge Brea; Concepción A. Monje; Ángel García-Olaya; Carlos Balaguer. 2014. "A STUDY FOR THE APPLICATION OF AUTOMATED PLANNING TO MOBILE ASSISTIVE ROBOTS." Cybernetics and Systems 45, no. 6: 512-529.
Humanoid robots are expected to work and collaborate with humans performing in changing environments. Developing this kind of robots requires them to display intelligent behaviors. For behaviours to be considered as intelligent they must at least present the ability to learn skills, represent skill’s knowledge, and adapt and generate new skills. In this work a framework is proposed for the generation and adaptation of learned models of robot skills for complying with task constraints. The proposed framework is meant to allow: for an operator to teach and demonstrate to the robot the motion of a task skill it must reproduce; to build a knowledge base of the learned skills knowledge allowing for its storage, classification and retrieval; to adapt and generate learned models of a skill, to new context, for compliance with the current task constraints. A learning from demonstration approach is employ to learn robot skill by means of probabilistic methods, encoding the motion dynamics in a Gaussian Mixture Model. We propose that this models of the skill can be operate and combine to represent and adapt the robot skills.
Daniel Hernández García; Concepción A. Monje; Carlos Balaguer. Framework for Learning and Adaptation of Humanoid Robot Skills to Task Constraints. Advances in Intelligent Systems and Computing 2014, 252, 557 -572.
AMA StyleDaniel Hernández García, Concepción A. Monje, Carlos Balaguer. Framework for Learning and Adaptation of Humanoid Robot Skills to Task Constraints. Advances in Intelligent Systems and Computing. 2014; 252 ():557-572.
Chicago/Turabian StyleDaniel Hernández García; Concepción A. Monje; Carlos Balaguer. 2014. "Framework for Learning and Adaptation of Humanoid Robot Skills to Task Constraints." Advances in Intelligent Systems and Computing 252, no. : 557-572.
The aim of this work is to model and simulate the humanoid robot HOAP-3 in the OpenHRP3 platform. Our purpose is to create a virtual model of the robot so that different motions and tasks can be tested in different environments. This will be the first step before testing the motion patterns in the real HOAP-3. We use the OpenHRP3 platform for the creation and validation of the robot model and tasks. The procedure followed to reach this goal is detailed in this article. In order to validate our experience, different walking motions are tested and the simulation results are compared with the experimental ones.
C. A. Monje; P. Pierro; T. Ramos; M. González-Fierro; Carlos Balaguer. MODELING AND SIMULATION OF THE HUMANOID ROBOT HOAP-3 IN THE OPENHRP3 PLATFORM. Cybernetics and Systems 2013, 44, 663 -680.
AMA StyleC. A. Monje, P. Pierro, T. Ramos, M. González-Fierro, Carlos Balaguer. MODELING AND SIMULATION OF THE HUMANOID ROBOT HOAP-3 IN THE OPENHRP3 PLATFORM. Cybernetics and Systems. 2013; 44 (8):663-680.
Chicago/Turabian StyleC. A. Monje; P. Pierro; T. Ramos; M. González-Fierro; Carlos Balaguer. 2013. "MODELING AND SIMULATION OF THE HUMANOID ROBOT HOAP-3 IN THE OPENHRP3 PLATFORM." Cybernetics and Systems 44, no. 8: 663-680.
In this work, an innovative robotic solution for human care and assistance is presented. Our main objective is to develop a new concept of portable robot able to support the elderly and those people with different levels of disability during the execution of daily tasks, such as washing their face or hands, brushing their teeth, combing their hair, eating, drinking, and bringing objects closer, among others. Our prototype, ASIBOT, is a five degrees of freedom (DOF) self-contained manipulator that includes the control system and electronic equipment on board. The main advantages of the robot are its light weight, about 11 kg for a 1.3 m reach, its autonomy, and its ability to move between different points (docking stations) of the room or from the environment to a wheelchair and vice versa, which facilitates its supportive functions. The functional evaluation of ASIBOT is addressed in this paper. For this purpose the robotic arm is tested in different experiments with disabled people, gathering and discussing the results according to a methodology that allows us to assess users' satisfaction.
Alberto Jardón; Concepción A. Monje; Carlos Balaguer. Functional Evaluation of Asibot: A New Approach on Portable Robotic System for Disabled People. Applied Bionics and Biomechanics 2012, 9, 85 -97.
AMA StyleAlberto Jardón, Concepción A. Monje, Carlos Balaguer. Functional Evaluation of Asibot: A New Approach on Portable Robotic System for Disabled People. Applied Bionics and Biomechanics. 2012; 9 (1):85-97.
Chicago/Turabian StyleAlberto Jardón; Concepción A. Monje; Carlos Balaguer. 2012. "Functional Evaluation of Asibot: A New Approach on Portable Robotic System for Disabled People." Applied Bionics and Biomechanics 9, no. 1: 85-97.