UPV
UPV
UPV
UPV

Research areas

The Area of Robotics of the Instituto ai2 focuses its activity on the study, analysis and development of basic and applied research in order to cover aspects such as control, sensorization, programming and planning of robotic systems in several platforms (articulated arms, mobile robots and humanoid robots).

Robotics 

Contact

Carlos Ricolfe

The Area of Robotics of the Instituto ai2 focuses its activity on the study, analysis and development of basic and applied research in order to cover aspects such as control, sensorization, programming and planning of robotic systems in several platforms (articulated arms, mobile robots and humanoid robots).

Robotics 

Contact

Carlos Ricolfe

Research Lines

Mobile robotics

Pick-Inspection-Place

Rehabilitation platforms

Robotics implementation consultancy

Surveillance applications with mobile robots

Systems for handling sensitive products

Projects

MUCADE
Multi Cable-Driven Robot for Detecting/Detonating Unexploded Mines and Ordnance
ARTEEKO
Adaptive end effector for upholstery fabrics
AGILEHAND
Handling Solutions For Soft And Deformable Products
InnDIH
European Digital Innovation Hub
MISCE
Mechatronic for improving competences in engineering
ROBOPORP
Parallel robotic system for proprioceptive system monitoring and training
MULTIVIEW
Towards a fully automated device based on deep learning for Caenorhabditis elegans lifespan
RESPECT.
Indoor mobile robotics for healthcare
ENDORSE.
“Nursing” robots for hospitals and senior centers
Mani-Dacsa
Robotic food grippers
 

Articles

  • Paper: 2023, Admittance controller complemented with real-time singularity avoidance for rehabilitation parallel robots,
    Journal: Mechatronics, Number , Volume 94, Pagess: –
    DOI: https://doi.org/10.1016/j.mechatronics.2023.103017 – HANDLE: http://hdl.handle.net/10251/200862
    Authors: Pulloquinga-Zapata, José Luis; Escarabajal-Sánchez, Rafael José; Vallés Miquel, Marina; Díaz-Rodríguez, Miguel; Mata Amela, Vicente; Valera Fernández, Ángel
  • Paper: 2023, Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives,
    Journal: IEEE Transactions on Robotics, Number , Volume 39, Pagess: –
    DOI: https://doi.org/10.1109/TRO.2023.3238136 – HANDLE: http://hdl.handle.net/10251/200923
    Authors: Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José; Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina; Castillo-García, Fernando J.
  • Paper: 2023, Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises,
    Journal: IEEE Robotics and Automation Letters, Number , Volume 8, Pagess: –
    DOI: https://doi.org/10.1109/LRA.2023.3281884 – HANDLE: http://hdl.handle.net/10251/201738
    Authors: Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José; Zamora-Ortiz, Pau; Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina
  • Paper: 2023, Model-Based Control of a 4-DOF Rehabilitation Parallel Robot with Online Identification of the Gravitational Term,
    Journal: Sensors, Number , Volume 23, Pagess: –
    DOI: https://doi.org/10.3390/s23052790 – HANDLE: http://hdl.handle.net/10251/202749
    Authors: Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José Luis; Mata Amela, Vicente; Valera Fernández, Ángel; Díaz-Rodríguez, Miguel
  • Paper: 2022, A new training strategy for spatial transform networks (STN’s),
    Journal: Neural Computing and Applications, Number , Volume , Pagess: 10081- 10092
     DOI: https://doi.org/10.1007/s00521-022-06993-0 – HANDLE:
    Authors: Francisco Navarro Moya; Puchalt-Rodríguez, Joan Carles; Layana-Castro, Pablo Emmanuel; García-Garví, Antonio; Sánchez Salmerón, Antonio José
  • Paper: 2022, Gravitational Base Parameters Identification for a Knee Rehabilitation Parallel Robot,
    Journal: International Journal on Advanced Science, Engineering and Information Technology, Number 2, Volume 12, Pagess: 501- 507
     DOI: https://doi.org/10.18517/ijaseit.12.2.15289 – HANDLE:
    Authors: Pulloquinga-Zapata, José; Escarabajal-Sánchez, Rafael José; Mata Amela, Vicente; Valera Fernández, Ángel; Ivan Zambrano; Andrés Rosales
  • Paper: 2022, Identifying the Inertial Properties of a Padel Racket: An Experimental Maneuverability Proposal,
    Journal: Sensors, Number , Volume 22, Pagess: 1- 22
     DOI: https://doi.org/10.3390/s22239266 – HANDLE:
    Authors: Blanes Campos, Carlos; Correcher Salvador, Antonio; Beltrán Beltrán, Pablo; Mellado, Martin
  • Paper: 2021, Towards Lifespan Automation for Caenorhabditis elegans Based on Deep Learning: Analysing Convolutional and Recurrent Neural Networks for Dead or Live Classification,
    Journal: Sensors, Number 14, Volume 21, Pagess: 4943- 4950
     DOI: https://doi.org/10.3390/s21144943 – HANDLE:
    Authors: García-Garví, Antonio; Puchalt-Rodríguez, Joan Carles; Layana-Castro, Pablo Emmanuel; Francisco Navarro Moya; Sánchez Salmerón, Antonio José
  • Paper: 2021, Vision-Based Hybrid Controller to Release a 4-DOF Parallel Robot from a Type II Singularity,
    Journal: Sensors, Number , Volume 21, Pagess: 4080-
    DOI: https://doi.org/10.3390/s21124080 – HANDLE:
    Authors: Pulloquinga-Zapata, José; Escarabajal-Sánchez, Rafael José; Jesús Ferrándiz; Vallés Miquel, Marina; Mata Amela, Vicente; Mónica Urízar
  • Paper: 2021, Automatic selection of the Groebner Basis monomial order employed for the synthesis of the inverse kinematic model of non-redundant open-chain robotic systems,
    Journal: Mechanics Based Design of Structures and Machines, Number , Volume , Pagess: 1- 22
     DOI: https://doi.org/10.1080/15397734.2021.1899829 – HANDLE:
    Authors: Guzmán Giménez, José; Valera Fernández, Ángel; Mata Amela, Vicente; MIGUEL ÁNGEL DÍAZ RODRÍGUEZ
  • Paper: 2021, Behavioural Study of the Force Control Loop Used in a Collaborative Robot for Sanding Materials,
    Journal: Materials, Number 1, Volume 14, Pagess: 1- 19
     DOI: https://doi.org/10.3390/ma14010067 – HANDLE:
    Authors: Pérez-Ubeda, Rodrigo Alonso; Gutiérrez, S. C.; Zotovic Stanisic, Ranko; Perles Ivars, Angel
  • Paper: 2021, Caenorhabditis elegans Multi-Tracker Based on a Modified Skeleton Algorithm,
    Journal: Sensors, Number 16, Volume 21, Pagess: 5622- 5643
     DOI: https://doi.org/10.3390/s21165622 – HANDLE:
    Authors: Layana-Castro, Pablo Emmanuel; Puchalt-Rodríguez, Joan Carles; García-Garví, Antonio; Sánchez Salmerón, Antonio José
  • Paper: 2021, Characterization of 3d printing filaments applied in restoration of sensitive archaeological objects using rapid prototyping,
    Journal: Rapid Prototyping Journal, Number 4, Volume 27, Pagess: 645- 657
     DOI: https://doi.org/10.1108/RPJ-06-2019-0153 – HANDLE:
    Authors: Aura-Castro, Elvira; Díaz-Marín, María Del Carmen; Mas-Barberà, Xavier; Sánchez López, Miguel; Vendrell Vidal, Eduardo
  • Paper: 2021, Experimental analysis of Type II singularities and assembly change points in a 3UPS+RPU parallel robot,
    Journal: Mechanism and Machine Theory, Number , Volume 158, Pagess: 104242-
    DOI: https://doi.org/10.1016/j.mechmachtheory.2020.104242 – HANDLE:
    Authors: Pulloquinga-Zapata, José; Mata Amela, Vicente; Valera Fernández, Ángel; Zamora-Ortiz, Pau; Díaz-Rodríguez, Miguel; Ivan Zambrano
  • Paper: 2021, Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots,
    Journal: Mathematics, Number , Volume 9, Pagess: 773-
    DOI: https://doi.org/10.3390/math9070773 – HANDLE:
    Authors: Zamora-Ortiz, Pau; Javier Carral-Alvaro; Valera Fernández, Ángel; Pulloquinga-Zapata, José; Escarabajal-Sánchez, Rafael José; Mata Amela, Vicente
  • Paper: 2021, Navigation of Autonomous Light Vehicles Using an Optimal Trajectory Planning Algorithm,
    Journal: Sustainability, Number 1233, Volume 13, Pagess: 1- 23
     DOI: https://doi.org/10.3390/su13031233 – HANDLE:
    Authors: Valera Fernández, Ángel; Valero Chuliá, Francisco José; Vallés Miquel, Marina; Besa Gonzálvez, Antonio José; Mata Amela, Vicente; Llopis-Albert, Carlos
  • Paper: 2021, Small flexible automated system for monitoring Caenorhabditis elegans lifespan based on active vision and image processing techniques,
    Journal: Scientific Reports, Number 12289, Volume 11, Pagess: –
    DOI: https://doi.org/10.1038/s41598-021-91898-6 – HANDLE:
    Authors: Puchalt-Rodríguez, Joan Carles; Sánchez Salmerón, Antonio José; Ivorra Martínez, Eugenio; Silvia Llopis; Roberto Martínez; Martorell, Patricia
  • Paper: 2020, Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance,
    Journal: Multidisciplinary Journal for Education, Social and Technological Sciences, Number 1, Volume 7, Pagess: 113- 127
     DOI: https://doi.org/10.4995/muse.2020.13352 – HANDLE:
    Authors: Llopis Albert, Carlos; Valero Chuliá, Francisco José; Mata Amela, Vicente; Escarabajal-Sánchez, Rafael José; Zamora-Ortiz, Pau; Pulloquinga-Zapata, José
  • Paper: 2020, Donning/Doffing and Arm Positioning Influence in Upper Limb Adaptive Prostheses Control,
    Journal: Applied Sciences, Number 8, Volume 10, Pagess: 1- 19
     DOI: https://doi.org/10.3390/app10082892 – HANDLE:
    Authors: Igual, Carles; Camacho-García, Andrés; Bernabeu Soler, Enrique Jorge; Igual García, Jorge
  • Paper: 2020, Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods,
    Journal: Sustainability, Number 14, Volume 12, Pagess: 1- 18
     DOI: https://doi.org/10.3390/su12145803 – HANDLE:
    Authors: Llopis-Albert, Carlos; Valero Chuliá, Francisco José; Mata Amela, Vicente; Pulloquinga-Zapata, José; Zamora-Ortiz, Pau; Escarabajal-Sánchez, Rafael José
  • Paper: 2020, Improving skeleton algorithm for helping Caenorhabditis elegans trackers,
    Journal: Scientific Reports, Number 1, Volume 10, Pagess: 1- 12
     DOI: https://doi.org/10.1038/s41598-020-79430-8 – HANDLE:
    Authors: Layana-Castro, Pablo Emmanuel; Puchalt-Rodríguez, Joan Carles; Sánchez Salmerón, Antonio José
  • Paper: 2020, Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces,
    Journal: Mechatronics, Number , Volume 69, Pagess: 1- 13
     DOI: https://doi.org/10.1016/j.mechatronics.2020.102382 – HANDLE:
    Authors: Valero Chuliá, Francisco José; Díaz-Rodríguez, Miguel; Vallés Miquel, Marina; Besa Gonzálvez, Antonio José; Bernabeu Soler, Enrique Jorge; Valera Fernández, Ángel
  • Paper: 2020, Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives,
    Journal: Multidisciplinary Journal for Education, Social and Technological Sciences, Number 2, Volume 7, Pagess: 30- 44
     DOI: https://doi.org/10.4995/muse.2020.13907 – HANDLE:
    Authors: Escarabajal-Sánchez, Rafael José; ABU-DAKKA, FARES JAWAD MOHD; Pulloquinga-Zapata, José; Mata Amela, Vicente; Vallés Miquel, Marina; Valera Fernández, Ángel
  • Paper: 2020, Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement,
    Journal: Applied Sciences, Number 12, Volume 10, Pagess: 1- 24
     DOI: https://doi.org/10.3390/app10124329 – HANDLE:
    Authors: Pérez-Ubeda, Rodrigo; Zotovic Stanisic, Ranko; Gutiérrez, S. C.
  • Paper: 2020, Passive Exercise Adaptation for Ankle Rehabilitation Based on Learning Control Framework,
    Journal: Sensors, Number 21, Volume 20, Pagess: 1- 23
     DOI: https://doi.org/10.3390/s20216215 – HANDLE:
    Authors: Abu-Dakka, Fares J.; Valera Fernández, Ángel; Escalera, Juan A.; Abderrahim, Mohamed ; Page Del Pozo, Alvaro Felipe; Mata Amela, Vicente
  • Paper: 2020, Improving lifespan automation for Caenorhabditis elegans by using image processing and a post-processing adaptive data filter,
    Journal: Scientific Reports, Number 1, Volume 10, Pagess: 1- 14
     DOI: https://doi.org/10.1038/s41598-020-65619-4 – HANDLE:
    Authors: Puchalt-Rodríguez, Joan Carles; Sánchez Salmerón, Antonio José; Ivorra Martínez, Eugenio; Genovés Martínez, Salvador; Martínez, Roberto; Martorell Guerola, Patricia
  • Paper: 2020, Reducing Results Variance in Lifespan Machines: An Analysis of the Influence of Vibrotaxis on Wild-Type Caenorhabditis elegans for the Death Criterion,
    Journal: Sensors, Number 21, Volume 20, Pagess: 1- 17
     DOI: https://doi.org/10.3390/s20215981 – HANDLE:
    Authors: Puchalt-Rodríguez, Joan Carles; Layana-Castro, Pablo Emmanuel; Sánchez Salmerón, Antonio José
  • Paper: 2020, Synthesis of the Inverse Kinematic Model of Non-Redundant Open-Chain Robotic Systems Using Groebner Basis Theory,
    Journal: Applied Sciences, Number 8, Volume 10, Pagess: 1- 22
     DOI: https://doi.org/10.3390/app10082781 – HANDLE:
    Authors: Guzmán-Giménez, José; Valera Fernández, Ángel; Mata Amela, Vicente; Díaz-Rodríguez, Miguel Ángel
  • Paper: 2019, Active backlight for automating visual monitoring: An analysis of a lighting control technique for Caenorhabditis elegans cultured on standard Petri plates,
    Journal: PLoS ONE, Number 4, Volume 14, Pagess: –
    DOI: https://doi.org/10.1371/journal.pone.0215548 – HANDLE:
    Authors: Puchalt-Rodríguez, Joan Carles; Sánchez Salmerón, Antonio José; Martorell, Patricia; Genovés, Salvador
  • Paper: 2019, An ultra-low pressure pneumatic jamming impact device to non-destructively assess cherimoya firmness,
    Journal: Biosystems Engineering, Number , Volume 180, Pagess: 161- 167
     DOI: https://doi.org/10.1016/j.biosystemseng.2019.02.003 – HANDLE:
    Authors: Ortiz Sánchez, María Coral; Blanes Campos, Carlos; Mellado, Martin
  • Paper: 2019, Event based distributed kalman filter for limited resource multirobot cooperative localization,
    Journal: Asian Journal of Control, Number 4, Volume 21, Pagess: 1531- 1546
     DOI: https://doi.org/10.1002/asjc.2141 – HANDLE:
    Authors: MARÍN PANIAGUA, LEONARDO JOSÉ; Soriano Vigueras, Ángel; Vallés Miquel, Marina; Valera Fernández, Ángel; Albertos Pérez, Pedro
  • Paper: 2019, LINEAR QUADRATIC REGULATOR (LQR) APPLIED TO ELASTIC JOINTS,
    Journal: SCIENTIFIC PROFESIONAL INFORMATIVE JOURNAL, Number 30, Volume 23, Pagess: 27- 34
     DOI: – HANDLE:
    Authors: Zotovic Stanisic, Ranko; Isaac Miguez Valle
  • Paper: 2019, Multi-step approach for automated scaling of photogrammetric micro-measurements,
    Journal: The International Journal of Advanced Manufacturing Technology, Number 1-4, Volume 102, Pagess: 747- 757
     DOI: https://doi.org/10.1007/s00170-018-03258-w – HANDLE:
    Authors: A. Frangione; Sánchez Salmerón, Antonio José; F. Modica; Percoco, Gianluca
  • Paper: 2019, Study of the application of a collaborative robot for machining tasks,
    Journal: Procedia Manufacturing, Number , Volume 41, Pagess: 867- 874
     DOI: https://doi.org/10.1016/j.promfg.2019.10.009 – HANDLE:
    Authors: Pérez-Ubeda, R.; Gutiérrez, S. C.; Zotovic Stanisic, Ranko; Lluch-Cerezo, J.
  • Paper: 2018, Design and Manufacturing of an Ultra-Low-Cost Custom Torque Sensor for Robotics,
    Journal: Sensors, Number 6, Volume 18, Pagess: 1- 18
     DOI: https://doi.org/10.3390/s18061786 – HANDLE:
    Authors: Pérez-Ubeda, Rodrigo Alonso; Gutiérrez, S. C.; Zotovic Stanisic, Ranko; Perles Ivars, Angel
  • Paper: 2018, SEGMENTACIÓN DE MALLAS 3D DE EDIFICIOS HISTÓRICOS PARA LEVANTAMIENTO ARQUITECTÓNICO,
    Journal: Virtual Archaeology Review, Number 0, Volume , Pagess: 66- 76
     DOI: https://doi.org/10.4995/var.2018.5858 – HANDLE:
    Authors: Herráez-Concejo, Borja Javier; Vendrell Vidal, Eduardo