Papers by Luis Marin-urias
Psychological studies on human interactions made surface the notion Perspective Taking. This noti... more Psychological studies on human interactions made surface the notion Perspective Taking. This notion, referring to reason on other persons' points of view, eases the communication between interacting individuals. For a robot interacting with people, we believe that Perspective Taking can play an important role that will allow the robot to understand, reason and act according to human's point of view thus allowing an efficient communication and cooperation. In this paper, we propose a group of algorithms to evaluate and generate robot configurations that are not only collision free but also obeying HRI constraints by reasoning explicitly on human's perspective.
Towards an integrated design methodology for mechatronic systems
Research in Engineering Design, Mar 21, 2023
Human Robot Interaction brings new challenges to the geometric reasoning and space sharing. The r... more Human Robot Interaction brings new challenges to the geometric reasoning and space sharing. The robot should not only reason on its own capacities but also consider the actual situation by looking from human's eyes, thus "putting itself to human's perspective". In humans, the "visual perspective taking" ability begins to appear by 24 months of age and is used to determine if another person can see an object or not. In this paper, we present a geometric reasoning mechanism that employs psychological concepts of "perspective taking" and "mental rotation" in order to reason what the human sees, what the robot sees and where the robot should focus to share human's attention. This geometric reasoning mechanism is demonstrated with HRP-2 humanoid robot in a human-robot face-to-face interaction context.
Journal of Intelligent & Robotic Systems, 2016
This paper addresses the navigation problem for mobile robots under uncertain working conditions.... more This paper addresses the navigation problem for mobile robots under uncertain working conditions. It is assumed that the environment is unknown at the beginning of any experiment and that a visual feedback module supports the navigation strategy to make a set of robots achieve a goal in an environment with obstacles. The proposed navigation algorithm depends on the obstacle localization, and it is based on visibility conditions of the goal and control points that are defined from the geometric distribution of the environment. The problem has been widely addressed in the literature; however, in this work it is solved by means
IEEE Access
This work presents a new optimization-based solution to the Inverse Kinematics Problem (IKP) of l... more This work presents a new optimization-based solution to the Inverse Kinematics Problem (IKP) of legged robots, including a modified Walking Pattern Generator that automatically avoids singularity configurations regarding position. The approach uses a numeric constrained problem solved with heuristic algorithms, where the joint vector is calculated to minimize the position errors, while orientation errors are handled as equality constraints, and threshold values are used to set the maximum error for each foot along the trajectories. The optimization model can generalize the IKP for robots with any number of legs and any number of poses within the physically consistent trajectories for the Center of Mass and the feet, considering the dynamics of the robot for a stable walking. The case study was a 12-DOF biped robot, and the resulting joint trajectories were validated by a dynamic simulation, using a Gazebo-ROS platform, where the walking was successfully performed without requiring a feedback control for correcting the torso tilt, showing the solution quality.
Revista de Tecnología y Educación, Jun 30, 2019
Applied Sciences
The separation dynamics of a multiphase fluid mixture is studied with the aim to validate the gas... more The separation dynamics of a multiphase fluid mixture is studied with the aim to validate the gas reduction from the mixture by means of a KMS helical static mixer device through a laboratory prototype based on the jet-pump artificial lift system for oil extraction. The study is focused on the cyclone phenomenon, produced by the KMS, to experimentally verify the reduction of foaming in a reservoir behaving as a horizontal gravity separator of an oil–gas–water mixture under specific dynamics conditions of velocity and pressure of an incoming streamline, as well as some physical mounting configurations of the device. The results were numerical and experimentally validated, projecting the real performance in three-phase separators in an oil extraction field to improve efficiency in pumping machines regarding the negative effects of the gas. Concerning the gas reduction, a KMS of two elements located at 100 mm from the entrance of the horizontal reservoir and 20 mm from a gas casing tub...
Interface de comunicación remota entre un sistema clasificador de ondas cerebrales y un robot móvil
Revista de Ingeniería Biomédica y Biotecnología
Teleoperation of robots allows humans to reach inaccessible places such as water depths greater t... more Teleoperation of robots allows humans to reach inaccessible places such as water depths greater than 20 m., near volcanoes, mines. Etc. Today this action is carried out by physical electronic controls, such as levers, however much training is needed by humans to control these devices due to the complexity of operation. To teleoperate robots in a more natural way arises the idea of developing a classifier brainwave system, based on statistical data, send generated commands intentions of human movement, thus is intended to provide a way to control the movements robots in different and more understandable without much training by the operator environments. The work presented proposes an entire framework to carry out a remote control of a mobile robot using a classifier brainwave, obtaining movement commands; this is done through free technologies making it a robust, reliable and future tool available to those who require it.
Machines, 2022
In this paper, a conceptual design of a Delta robot is developed by means of a mechatronic design... more In this paper, a conceptual design of a Delta robot is developed by means of a mechatronic design methodology. A fully integrated conceptual design, clarifying the recurrence of the conceptual design process using black-box/white-box analysis, is presented using the Model Based Systems Engineering (MBSE) paradigm and the SysML language as the formal modeling tool. Multiple designs proposals are then evaluated by the non-linear Choquet integral in order to choose the most appropriate according to a multicriteria requirement. For a preliminary conceptual design, structural parameters for the Delta robot are determined by defining and solving a nonlinear constrained optimization problem, which considers the kinematic model of the robot maximizing its workspace. Both the decision making and the optimization problem are integrated and automated into a common software framework for the design process, by using a standard genetic algorithm and Monte Carlo method to set the optimized concep...
Journal of Computacion y Sistemas, 2010
In this paper we present the development of a method that combines the evolutionary robotics appr... more In this paper we present the development of a method that combines the evolutionary robotics approach with action selection. A collection task is set in an arena where a Khepera robot has to collect cylinders that simulate food. Furthermore, two basic motivations, labeled as 'fear' and 'hunger', both affect the selection of the behavioral repertoire. In this paper we propose an initial evolutionary stage where behavioral modules are designed as separate selectable modules. Next, we use evolution for optimizing the motivated selection network employed for behavioral switching. Finally, we compare evolved selection with hand-coded selection, which offers some interesting results that support the use of a hybrid approach in the development of behavior-based robotics.
Procedia Technology, 2013
Today, the manipulation of objects by mobile robots is still a challenging task. This task is com... more Today, the manipulation of objects by mobile robots is still a challenging task. This task is commonly decomposed on three stages: a) approaching to the objects, b) path planning and trajectory execution of the manipulator arm and finally c) fine tuning and grasping. In this work is presented an implementation of a 3D pose visual servoing for an autonomous mobile manipulator dealing with the last stage of the manipulation task (fine tuning and grasping). The methodology proposed consists of three steps: a) beginning with a fast monocular image segmentation, followed by b) 3D model reconstruction and finally c) pose estimation to feedback fine tuning manipulation control loop. Objects and end-effector are colored in different colors and their models are supposed to be known. Our mobile manipulator prototype consists of a stereo camera under a binocular stand-alone configuration and an anthropomorphic 7DoF arm with a parallel end-effector (gripper). Our methodology runs in real time and is suitable to perform continuous visual servoing. Experimental results are reported.
Procedia Technology, 2013
In this paper an Object Learning and Recognition method for a Humanoid is presented. This method ... more In this paper an Object Learning and Recognition method for a Humanoid is presented. This method tries to take advantage of the Cloud Resources, since it is based on image web search in order to build training sets for learn about objects appearance. In case of unavailability of Internet access, the robot would ask human to show the object and take the images from its camera. This way, our method aims to be a flexible and natural Human-Robot Interaction framework and to give as much autonomy as possible to the robot.
Floor plane recovery from monocular vision for autonomous mobile robot on indoor environments
CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers, 2011
Floor plane recovery is a very important issue on mobile robotics. Without the using of specializ... more Floor plane recovery is a very important issue on mobile robotics. Without the using of specialized hardware as Laser Range Finders (LRF) or some others optical time-of- flight sensors, plane recovery is really a challenge. In this paper we present a robust approach for plane recovery from monocular images coming from an uncalibrated active Pan/Tilt/Zoom (PTZ) camera mounted on a
Learning from the Web: Recognition method based on object appearance from Internet images
2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2013
In this work an Object Learning and Recognition method for a Humanoid is presented. This method a... more In this work an Object Learning and Recognition method for a Humanoid is presented. This method aims to take advantage of the Cloud Resources, since it is based on image web search in order to build training sets for learning objects' appearance. In case Internet access is unavailable, the robot asks human to show the objects and acquires the images using its camera. Through this technique, our method aims to be a flexible and natural framework for Human-Robot Interaction and to provide as much autonomy as possible to the robot.
IEEE Transactions on Robotics, 2007
Robot navigation in the presence of humans raises new issues for motion planning and control when... more Robot navigation in the presence of humans raises new issues for motion planning and control when the humans must be taken explicitly into account. We claim that a humanaware motion planner must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths. This paper focuses on a motion planner that takes explicitly into account its human partners by reasoning about their accessibility, their vision field and their preferences in terms of relative human-robot placement and motions in realistic environments. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in the presence or in synergy with humans.
For mobile robot manipulation, autonomous object detection and localization is at the present sti... more For mobile robot manipulation, autonomous object detection and localization is at the present still an open issue. In this paper is presented a method for detection and localization of simple colored geometric objects like cubes, prisms and cylinders, located over a table. The method proposed uses a passive stereovision system and consists on two steps. The first is colored object detection, where it is used a combination of a color segmentation procedure with an edge detection method, to restrict colored regions. Second step consists on pose recovery; where the merge of the colored objects detection mask is combined with the disparity map coming from stereo camera. Later step is very important to avoid noise inherent to the stereo correlation process. Filtered 3D data is then used to determine the main plane where the objects are posed, the table, and then the footprint is used to localize them in the stereo camera reference frame and then to the world reference frame.
An experimental comparison of scattering-based time delay compensation schemes
2021 XXIII Robotics Mexican Congress (ComRob)
In this paper we present a module for detection a nd segmentation of human torsos for Human-Robot... more In this paper we present a module for detection a nd segmentation of human torsos for Human-Robot Interaction. People detection is a very important task in Human-Robot Interaction and particularly at the beginning of this interaction. Visual and 3D data coming from a Kinect sensor is used to achieve the task. The module proposed uses three main process: a) a face detector b) a skin color detector t and c) a 3D region growing segmentation technique. Open sources libraries like OpenNI, OpenKinect and Point Cloud Library are used in our implementation to handle the device and sensors data, as well as OpenCV and GLUT to the image processing and display.
Synthesizing Robot Motions Adapted to Human Presence - A Planning and Control Framework for Safe and Socially Acceptable Robot Motions
Int. J. Soc. Robotics, 2010
Human Robot Interaction is a research area that is growing exponentially in last years. This fact... more Human Robot Interaction is a research area that is growing exponentially in last years. This fact brings new challenges to the robot's geometric reasoning and space sharing abilities. The robot should not only reason on its own capacities but also consider the actual situation by looking from human's eyes, thus "putting itself into human's perspective". In humans, the "visual perspective taking" ability begins to appear by 24 months of age and is used to determine if another person can see an object or not. The implementation of this kind of social abilities will improve the robot's cognitive capabilities and will help the robot to perform a better interaction with human beings. In this work, we present a geometric spatial reasoning mechanism that employs psycho- logical concepts of "perspective taking" and "mental rotation" in two general frameworks: - Motion planning for human-robot interaction: where the robot uses "ego...
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Papers by Luis Marin-urias