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Jorge Muñoz received his PhD in Electrical Engineering, Electronics and Automation in 2020, and his MSc. Degree in Robotics and Automation in 2011 from the University Carlos III of Madrid. He has been involved in projects like HANDLE (7th framework), the RoboticsLab Humanoid Robot TEO, and HumaSOFT. He is currently active collaborator of the RoboticsLab group where he works with the humanoid robot TEO and the soft robotic neck from the HUMASOFT project.
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.
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.
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.
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 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.
Fractional order controllers are widely used in the robust control field. As a generalization of the ubiquitous PID controllers, fractional order controllers are able to reach design specifications their integer counterparts cannot, and as a result they outperform them at particular situations. Their main drawback is that generalization of the design tools is not always evident, and therefore tuning this kind of controller is always a new and different challenge. Existing methods often use numerical computation to find the controller parameters that fit the specifications. This paper describes a graphical solution for fractional order controllers, which avoids the solution by nonlinear equations and helps designer to solve the control problem in a very intuitive way. This approach is tested in the servomotors of a real bio-inspired soft neck and results are compared with those obtained from other control strategies. The experiments show that the controller tuned by this method works as expected from a robust controller and that this approach is very competitive compared to other state of the art methods, while offering a more simplified and direct tuning process.
Jorge Muñoz; Concepción A. Monje; Luis F. Nagua; Carlos Balaguer. A graphical tuning method for fractional order controllers based on iso-slope phase curves. ISA Transactions 2020, 105, 296 -307.
AMA StyleJorge Muñoz, Concepción A. Monje, Luis F. Nagua, Carlos Balaguer. A graphical tuning method for fractional order controllers based on iso-slope phase curves. ISA Transactions. 2020; 105 ():296-307.
Chicago/Turabian StyleJorge Muñoz; Concepción A. Monje; Luis F. Nagua; Carlos Balaguer. 2020. "A graphical tuning method for fractional order controllers based on iso-slope phase curves." ISA Transactions 105, no. : 296-307.
This paper presents a control scheme for the humanoid robot TEO’s elbow joint based on a novel tuning method for fractional-order PD and PI controllers. Due to the graphical nature of the proposed method, a few basic operations are enough to tune the controllers, offering very competitive results compared to classic methods. The experiments show a robust performance of the system to mass changes at the tip of the humanoid arm.
Jorge Munoz; Concepcion A. Monje; Santiago Martinez De La Casa; Carlos Balaguer. Joint Position Control Based on Fractional-Order PD and PI Controllers for the Arm of the Humanoid Robot TEO. International Journal of Humanoid Robotics 2019, 16, 1 .
AMA StyleJorge Munoz, Concepcion A. Monje, Santiago Martinez De La Casa, Carlos Balaguer. Joint Position Control Based on Fractional-Order PD and PI Controllers for the Arm of the Humanoid Robot TEO. International Journal of Humanoid Robotics. 2019; 16 (6):1.
Chicago/Turabian StyleJorge Munoz; Concepcion A. Monje; Santiago Martinez De La Casa; Carlos Balaguer. 2019. "Joint Position Control Based on Fractional-Order PD and PI Controllers for the Arm of the Humanoid Robot TEO." International Journal of Humanoid Robotics 16, no. 6: 1.