Listar por autor "Pastor-Martín, Francisco"
Mostrando ítems 1-13 de 13
-
Autonomous Wristband Placement in a Moving Hand for Victims in Search and Rescue Scenarios With a Mobile Manipulator.
Pastor-Martín, Francisco; Ruiz-Ruiz, Francisco Jesús; Gómez-de-Gabriel, Jesús Manuel
; García-Cerezo, Alfonso José (2023)
In this letter, we present an autonomous method for the placement of a sensorized wristband to victims in a Search-And-Rescue (SAR) scenario. For this purpose, an all-terrain mobile robot includes a mobile manipulator, ... -
Bayesian and neural inference on lstm-based object recognition from tactile and kinesthetic information
Pastor-Martín, Francisco; García-González, Jorge; Gandarias, Juan Manuel; Medina, Daniel; Closas, Pau; García-Cerezo, Alfonso José; Gómez-de-Gabriel, Jesús Manuel[et al.] (IEEE, 2020-11-16)
Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile ... -
Dataset with Tactile and Kinesthetic Information from a Human Forearm and Its Application to Deep Learning
Pastor-Martín, Francisco; Lin-Yang, Da-hui; Gómez-de-Gabriel, Jesús Manuel; García-Cerezo, Alfonso José (IOAP-MDPI, 2022-11-12)
There are physical Human–Robot Interaction (pHRI) applications where the robot has to grab the human body, such as rescue or assistive robotics. Being able to precisely estimate the grasping location when grabbing a human ... -
Diseño de una pinza sub-actuada híbrida soft-rigid con sensores hápticos para interacción física robot-humano
Gómez-de-Gabriel, Jesús Manuel; Gandarias, Juan Manuel; Sánchez Montoya, Trinidad; Pastor-Martín, Francisco; García-Cerezo, Alfonso José; Muñoz-Ramírez, Antonio José[et al.] (Comité Español de Automática, 2019)
Las manos robóticas sub-actuadas poseen una gran adaptabilidad que les permite el agarre de objetos de diferentes formas y tamaños. Por otro lado, el desarrollo de robots blandos (soft robotics) para la interacción física ... -
Experimental Validation of a Robotic Stretcher for Casualty Evacuation in a Man-Made Disaster Exercise
Pastor-Martín, Francisco; Mandow, Anthony; Serón-Barba, Javier; Pastor-Martín, Francisco; García-Cerezo, Alfonso José (IEEE, 2020-11)
This paper describes a cooperative search and rescue exercise where an unmanned ground vehicle (UGV) is used by a military rescue team for extraction and evacuation of a casualty from an unsafe man-made disaster area. This ... -
Grasping Angle Estimation of Human Forearm with Underactuated Grippers Using Proprioceptive Feedback
Pastor-Martín, Francisco; Gandarias, Juan Manuel; García-Cerezo, Alfonso José; Muñoz-Ramírez, Antonio José; Gómez-de-Gabriel, Jesús Manuel (2019)
In this paper, a method for the estimation of the angle of grasping of a human forearm, when grasped by a robot with an underactuated gripper, using proprioceptive information only, is presented. Knowing the angle around ... -
Human-Arm Roll Estimation in Underactuated Grippers with Proprioceptive Feedback
Gandarias, Juan Manuel; Gómez-de-Gabriel, Jesús Manuel; Pastor-Martín, Francisco; Muñoz-Ramírez, Antonio José (2019-09-11)
A method for the estimation of the roll angle of a human forearm, when grasped by a robot with an underactuated gripper, using proprioceptive information only, is being developed. Knowing the angle around the forearm's ... -
Learning-based Haptic Perception in Robotic Grippers: Design and Applications
(UMA Editorial, 2024)The world of robotics has been growing exponentially over the last decades. Recent advances in control techniques, sensors, and actuators, as well as improvements in the ability to interpret the surrounding environment ... -
Monitorización de víctimas con manipuladores aéreos en operaciones de búsqueda y rescate
Ruiz-Ruiz, Francisco J.; Gandarias, Juan Manuel; Muñoz-Ramírez, Antonio José; García-Cerezo, Alfonso José; Pastor-Martín, Francisco; Gómez-de-Gabriel, Jesús Manuel[et al.] (2018-09-17)
En este trabajo se presenta el primer dispositivo de monitorización de víctimas para su colocación automática con robots manipuladores aéreos. Se trata de un sistema sensorial distribuido para la evaluación de forma continua ... -
Project Summary: TRUST-ROB, Towards Resilient UGV and UAV Manipulator Teams For Robotic Search and Rescue Tasks
García-Cerezo, Alfonso José; Mandow, Anthony; Bravo-Arrabal, Juan; Cruz, A; Castellano Quero, Manuel; Fernández-Lozano, Juan Jesús; Gandarias, Juan Manuel; Gómez-de-Gabriel, Jesús Manuel; Gómez Ruiz, J.A.; Martínez, JL; Martínez-Sánchez, María Alcázar; Miranda-Páez, Jesús; Morales, J; Muñoz-Ramírez, Antonio José; Pastor-Martín, Francisco; Reina-Terol, Antonio Jesús; Sánchez, JR; Serón-Barba, Javier; Toscano-Moreno, Manuel; Vázquez-Martín, Ricardo; Zambrana-Moral, Patricia[et al.] (2022)
This Project Summary paper reviews the main contributions and lessons learned from the TRUST-ROB project: “Towards Resilient UGV and UAV Manipulator Teams for Robotic Search and Rescue Tasks”, which has been developed ... -
Transfer learning or design a custom CNN for tactile object recognition
Gandarias, Juan Manuel; Pastor-Martín, Francisco; Muñoz-Ramírez, Antonio José; García-Cerezo, Alfonso José; Gómez-de-Gabriel, Jesús Manuel (2018-10-29)
Novel tactile sensors allow treating pressure lectures as standard images due to its highresolution. Therefore, computer vision algorithms such as Convolutional Neural Networks (CNNs) can be used to identify objects in ... -
Upper-limb kinematic parameter estimation and localization using a compliant robotic manipulator.
Ruiz-Ruiz, Francisco J.; Gandarias Palacios, Juan Manuel; Pastor-Martín, Francisco; Gómez-de-Gabriel, Jesús Manuel (IEEE, 2021-03-18)
Assistive and rehabilitation robotics have gained momentum over the past decade and are expected to progress significantly in the coming years. Although relevant and promising research advances have contributed to these ... -
Using 3D Convolutional Neural Networks for Tactile Object Recognition with Robotic Palpation.
Pastor-Martín, Francisco; Gandarias Palacios, Juan Manuel; García-Cerezo, Alfonso José; Gómez-de-Gabriel, Jesús Manuel (MDPI, 2019-12-05)
In this paper, a novel method of active tactile perception based on 3D neural networks and a high-resolution tactile sensor installed on a robot gripper is presented. A haptic exploratory procedure based on robotic palpation ...