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dc.contributor.advisorGómez-de-Gabriel, Jesús Manuel 
dc.contributor.advisorGarcia-Cerezo, Alfonso J. 
dc.contributor.authorGandarias Palacios, Juan Manuel
dc.contributor.otherIngeniería de Sistemas y Automáticaen_US
dc.date.accessioned2020-09-09T09:25:10Z
dc.date.available2020-09-09T09:25:10Z
dc.date.created2020-03-30
dc.date.issued2020-09-04
dc.identifier.urihttps://hdl.handle.net/10630/19741
dc.descriptionDoctorado en Ingeniería mecatrónica. Fecha de entrega de la Tesis doctoral: 8 de enero de 2020. Fecha de lectura de Tesis doctoral: 30 de marzo 2020.en_US
dc.description.abstractThe dream of having robots living among us is coming true thanks to the recent advances in Artificial Intelligence (AI). The gap that still exists between that dream and reality will be filled by scientific research, but manifold challenges are yet to be addressed. Handling the complexity and uncertainty of real-world scenarios is still the major challenge in robotics nowadays. In this respect, novel AI methods are giving the robots the capability to learn from experience and therefore to cope with real-life situations. Moreover, we live in a physical world in which physical interactions are both vital and natural. Thus, those robots that are being developed to live among humans must perform tasks that require physical interactions. Haptic perception, conceived as the idea of feeling and processing tactile and kinesthetic sensations, is essential for making this physical interaction possible. This research is inspired by the dream of having robots among us, and therefore, addresses the challenge of developing robots with haptic perception capabilities that can operate in real-world scenarios. This PhD thesis tackles the problems related to physical robot interaction by employing machine learning techniques. Three AI solutions are proposed for different physical robot interaction challenges: i) Grasping and manipulation of humans’ limbs; ii) Tactile object recognition; iii) Control of Variable-Stiffness-Link (VSL) manipulators. The ideas behind this research work have potential robotic applications such as search and rescue, healthcare or rehabilitation. This dissertation consists of a compendium of publications comprising as the main body a compilation of previously published scientific articles. The baseline of this research is composed of a total of five papers published in prestigious peer-reviewed scientific journals and international robotics conferences.en_US
dc.language.isoengen_US
dc.publisherUMA Editorialen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectRobóticaen_US
dc.subjectInteligencia artificialen_US
dc.subjectSistemas hombre-máquinaen_US
dc.subjectPercepciónen_US
dc.subjectTactoen_US
dc.subject.otherRoboticsen_US
dc.subject.otherArtificial intelligenceen_US
dc.subject.otherHaptic perceptionen_US
dc.subject.otherPhysical human-robot interactionen_US
dc.titleIntelligent Haptic Perception for Physical Robot Interactionen_US
dc.typeinfo:eu-repo/semantics/doctoralThesisen_US
dc.centroEscuela de Ingenierías Industrialesen_US
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*


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