Integrated project

Project integrated in a research project.

Adapting Quadruped Locomotion by Real Time Learning of Detection and Avoidance of an Obstacle

There is an increasing interest in conceiving robotic systems that are able to move and act in an un- structured and not predefined environment, for which autonomy and adaptability are crucial features. In nature, animals can be regarded as autonomous biological systems, which often serve as inspiration models, not only for their physical and mechanical properties, but also their control structures that enable adaptability and autonomy - for which learning is (at least) partially responsible.

Automatic Generation of Biped locomotion using Genetic Programming

Generating biped locomotion in robotic platforms is hard due to the complexity of the
the synchronization of several joints, while monitoring stability. Further, it is also expected to deal with the great
heterogeneity of existing platforms. The generation of adaptable locomotion further increases the complexity of the task.
Genetic Programming (GP) is used as an automatic search method for motion primitives of a biped robot, that
optimizes a given criterion. It does so by exploring and exploiting the capabilities and particularities of the platform.

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Project status: 
Project in progress

Generating Trajectories for robots in Hospital Environments

This work aims at developing locomotion techniques for the autonomous navigation of wheeled robots in real, crowded and dynamic environments, and accounting for specific social interactions between the robot and any bystanders.

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Project in progress

Quadruped gait optimization

Qadruped Locomotion

We focus in the development of a quadruped and biped robot walking gait locomotion that combine bio-inspired Central Patterns Generators (CPGs) and Evolutionary Algorithms. The CPGs are modelled as autonomous differential equations, that generate the necessary limb movement to perform the walking gait, and the Genetic Algorithm perform the search of the CPGs parameters.

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Project status: 
Project in progress

Head motion optimization

In autonomous robotics, the head shaking induced by locomotion is a relevant and still not solved problem. In this article, we propose a movement controller to generate locomotion and head movement. To generate the head movement required to minimize the head motion induced by locomotion itself. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs).

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Project status: 
Project in progress

Standing posture maintenance

Postural stability is a requirement for autonomous adaptive legged locomotion.

Neurobiological research leads to independent central systems for posture and locomotion, which interact when required.

In this work we propose a posture control system focused in the standing posture context. We integrate the proposed posture system with a CPG design based on coupled nonlinear oscillators.

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Project status: 
Project in progress
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