Alberto Brunete

Alberto Brunete
Universidad Politécnica de Madrid | UPM · Electrical, Electronic and Automation Engineering and Applied Physics

PhD

About

48
Publications
11,769
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
594
Citations
Additional affiliations
September 2018 - April 2019
Universidad Politécnica de Madrid
Position
  • Professor (Associate)
September 2013 - September 2018
Universidad Politécnica de Madrid
Position
  • Professor (Assistant)
September 2011 - August 2013
University Carlos III de Madrid
Position
  • Professor

Publications

Publications (48)
Preprint
Full-text available
The use of 3D cameras for gait analysis has been highly questioned due to the low accuracy they have demonstrated in the past. The objective of the study presented in this paper is to improve the accuracy of the estimations made by robot-mounted 3D cameras in human gait analysis by applying a supervised learning stage. The 3D camera was mounted in...
Conference Paper
La inspección robotizada de tuberías de pequeño diámetro es un tema de gran complejidad debido a las restricciones del espacio en el que se deben desarrollar las tareas. Aunque se han desarrollado diversos sistemas robóticos para inspeccionar tuberías, prácticamente no existen robots adecuados para tuberías de reducido diámetro que, por otra parte,...
Article
Background The integration of mobile robotic platforms in human gait analysis offers the potential to develop multiple medical applications and achieve new discoveries. The aim of this paper is to present a first design and validation of a ROS-based mobile robotic platform for human gait analysis. Methods During the design stage, the model identif...
Article
Full-text available
Mobile robotic platforms have made inroads in the rehabilitation area as gait assistance devices. They have rarely been used for human gait monitoring and analysis. The integration of mobile robots in this field offers the potential to develop multiple medical applications and achieve new discoveries. This study proposes the use of a mobile robotic...
Article
Full-text available
This paper presents a new architecture that integrates Internet of Things (IoT) devices, service robots, and users in a smart assistive environment. A new intuitive and multimodal interaction system supporting people with disabilities and bedbound patients is presented. This interaction system allows the user to control service robots and devices i...
Article
Full-text available
Robotic observatories are ideal infrastructures that can be remotely accessed by scientists, amateurs, and general public for research and education in Astronomy. Its robotization is a complex process for ensuring autonomy, safety, and coordination among all subsystems. Some observatories, such as Francisco Sanchez’s, are equipped with two types of...
Article
Full-text available
Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper, a CFD (computer fluid dynamics) modelling and optimization process of a robot adhesion system is carried out to determine th...
Preprint
Full-text available
Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper a CFD (Computer Fluid Dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the...
Chapter
Full-text available
Mobile robotic platforms for human gait analysis could open the gap to multiple medical applications and new discoveries. They could take several advantages over certified photogrammetric systems by making possible gait analysis without space limitations. In this document we present the design of a new ROS-based mobile robot platform for human gait...
Article
Full-text available
Collective intelligence projects based on citizen participation are gaining momentum in today's society. Citizen science applies crowdsourcing techniques to produce reliable data, quickly and easily. These projects allow getting new knowledge and help professional scientists to come to real conclusions. This paper proposes that the use of reputatio...
Article
Full-text available
Several studies have examined the accuracy of the Kinect V2 sensor during gait analysis. Usually the data retrieved by the Kinect V2 sensor are compared with the ground truth of certified systems using a Euclidean comparison. Due to the Kinect V2 sensor latency, the application of a uniform temporal alignment is not adequate to compare the signals....
Article
Full-text available
Objective: Most studies have conducted human gait analysis using expensive and invasive photogrammetric systems. The objective of this study was to demonstrate that non-invasive and cost-effective systems based on depth cameras may be able to retrieve relevant features of human gait patterns. We aimed to prove this by solving the problem of gait cl...
Article
Full-text available
Background subtraction is one of the key pre-processing steps necessary for obtaining relevant information from a video sequence. The selection of a background subtraction algorithm and its parameters is also important for achieving optimal detection performance, especially in night environments. The research contribution presented in this paper is...
Preprint
This paper presents some of the developments made in the construction of a modular climbing robot for infrastructure inspection. The development and optimization of independent vacuum generator systems for each leg is presented, with the flow-rate taking priority over the relative pressure. It also describes the general robot structure, as well as...
Conference Paper
This paper presents some of the developments made in the construction of a modular climbing robot for infrastructure inspection. The development and optimization of independent vacuum generator systems for each leg is presented, with the flow-rate taking priority over the relative pressure. It also describes the general robot structure, as well as...
Article
This paper presents some of the developments made in the construction of a modular climbing robot for infrastructure inspection. The development and optimization of independent vacuum generator systems for each leg is presented, with the flow-rate taking priority over the relative pressure. It also describes the general robot structure, as well as...
Presentation
This video shows the main features of Hammer, a tablet-based end-user interface for industrial robot programming, in a real environment: a robotic cell created for the Hephestos European project. Hammer is an Android application that makes easier to program tasks for industrial robots like polishing, milling or grinding. It is based on the Scratch...
Conference Paper
In this paper, an Expert-Guided Kinodynamic RRT algorithm (EGK-RRT) is presented. It aims to consider how a human pilot would navigate a kinodynamic robot. One of the characteristics of this algorithm is the fact that, unlike the original RRT for kinodynamic systems, it generates deterministic control sequences which can be reproduced as long as th...
Article
Full-text available
Falls are the leading cause of injury and death in elderly individuals. Unfortunately, fall detectors are typically based on wearable devices, and the elderly often forget to wear them. In addition, fall detectors based on artificial vision are not yet available on the market. In this paper, we present a new low-cost fall detector for smart homes b...
Article
Full-text available
In order to create effective storytelling agents three fundamental questions must be answered: first, is a physically embodied agent preferable to a virtual agent or a voice-only narration? Second, does a human voice have an advantage over a synthesised voice? Third, how should the emotional trajectory of the different characters in a story be rela...
Article
Full-text available
Hard materials can be cost effectively machined with standard industrial robots by enhancing current state-of-the-art technologies. It is demonstrated that even hard metals with specific robotics-optimised novel hard-metal tools can be machined by standard industrial robots with an improved position-control approach and enhanced compliance-control...
Conference Paper
Full-text available
Fall detection for elder people living alone is one of the most demanded needs by relatives and caregivers. And fall prevention should the natural next step. A continuous gait monitoring can provide information that can be related to neuronal or physical problems, which can lead to a fall risk assessment and consequently timely interventions and fa...
Article
Full-text available
This article presents a review on trends in modular reconfigurable robots, comparing the evolution of the features of the most significant robots over the years and focusing on the latest designs. These features are reconfiguration, docking, degrees of freedom, locomotion, control, communications, size, and powering. For each feature, some of the m...
Article
Full-text available
Purpose – The purpose of this paper is to analyse the needs of people with Alzheimer's disease and their caregivers in terms of information and communications technology (ICT) and home automation, and how to foster the use of smart devices in their homes and also, to determine whether the use of ICT can extend people with Alzheimer's disease stay a...
Article
Full-text available
Purpose – This paper aims to propose a new technique for programming robotized machining tasks based on intuitive human–machine interaction. This will enable operators to create robot programs for small-batch production in a fast and easy way, reducing the required time to accomplish the programming tasks. Design/methodology/approach – This techni...
Article
Full-text available
The sunlight intensity-based global positioning system (SGPS) is able to geolocate outdoor objects by means of the sunlight intensity detection. This paper presents the integration of SGPS into a sensor network in order to improve the overall accuracy using evolutionary algorithms. Another contribution of the paper is to theoretically solve both gl...
Conference Paper
Full-text available
This paper presents a novel tablet based end-user interface for industrial robot programming (called Hammer). This application makes easier to program tasks for industrial robots like polishing, milling or grinding. It is based on the Scratch programming language, but specifically design and cre-ated for Android OS. It is a visual programming conce...
Conference Paper
Full-text available
This paper presents a communication interface between supervisory low-cost mobile robots and domestic Wireless Sensor Network (WSN) based on the Zig Bee protocol from different manufacturers. The communication interface allows control and communication with other network devices using the same protocol. The robot can receive information from sensor...
Article
Full-text available
This paper presents a new simulation environment aimed at heterogeneous chained modular robots. This simulator allows for the testing of the feasibility of the design, the checking of how the modules will perform in the field, and the verifying of the hardware, electronics and communication designs before the prototype is built, saving time and res...
Article
Full-text available
This article presents a new control architecture designed for heterogeneous modular, multi-configurable, chained micro-robots. This architecture attempts to fill the gap that exists in heterogeneous modular robotics research, in which little work has been conducted compared to that in homogeneous modular robotics studies. The architecture proposes...
Article
Full-text available
This paper presents a GA-based optimization procedure for bioinspired heterogeneous modular multiconfigurable chained microrobots. When constructing heterogeneous chained modular robots that are composed of several different drive modules, one must select the type and position of the modules that form the chain. One must also develop new locomotion...
Conference Paper
Full-text available
This paper describes our ongoing effort to build an empathizing and adaptive storyteller system. The system under development aims to utilize emotional expressions generated from an avatar or a humanoid robot in addition to the listener's responses which are monitored in real time, in order to deliver a story in an effective manner. We conducted a...
Article
Full-text available
In construction it is sometimes necessary to perform inspection and maintenance tasks of small cavities, such as pipes (gas or water) or floor and ceiling sections. But sometimes it is not possible to have access (either in person or with a tool) to these places. Even some of the commercial robots that exist nowadays are not able either, due to its...
Conference Paper
Full-text available
This paper presents the new concept of a description language for modular robots called module description language (MDL). A specific implementation of this concept has been designed and tested to describe the capabilities of modules of a chained heterogeneous robot (both from the point of view of movements and tasks it can perform). Thanks to MDL...
Article
Full-text available
This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inside part of the pipes in order to detect damages, breaks and holes. Due to...
Conference Paper
Heterogeneous modular robots are a subject of great complexity due to the control problems derived from the different characteristics of each of the modules and the interactions amongst them. In this article, a control structure based on behaviors for robots composed of different drive units and other purpose modules is presented. This article main...
Conference Paper
Full-text available
A 2 degrees of freedom module for pipe inspection modular micro-robots based on servomotors is presented in this article. A mechanical and electrical description of the module is also given, including the kinematics and the close control loop design to detect obstacles (walls). The main configurations in which it can be used are described as well:...
Conference Paper
Full-text available
A new concept of a solar cell powering with integrated Global Positioning System (GPS) for microrobots is proposed. The main idea is to use a projector to transfer energy and to provide global positioning information to the robots that are equipped with multi-segment solar cells on their top. First tests with a 3000 ANSI lumens beamer projecting a...
Conference Paper
Full-text available
A lo largo de esta comunicación se muestran los diferentes módulos desarrollados hasta el momento en los proyectos MICROTUB (Desarrollo de un microrobot autónomo para exploración de tuberías y conductos –TIC2001-3838-C03-03) y MICROMULT (Sistemas micro-robóticos multiconfigurables –DPI2005-08932-C02-01), así como la arquitectura de control implemen...
Poster
Full-text available
In this poster, two drive modules and some other auxiliary modules for multi-configurable pipe inspection micro-robots are presented. The inspection of low diameter pipes is a subject of great complexity due to the small operation environment in which the tasks must be developed. Besides, the construction of microrobots for specific pipe inspection...
Conference Paper
Full-text available
Pipe inspection is a very important issue in construction. The inspection of low diameter canalizations is a pending issue nowadays, however it would help to repair and maintain a large amount of installations. In this article the lines that are followed to build a robot that is capable to move inside pipes of less than 26mm and negotiate bends whi...
Conference Paper
Full-text available
The inspection of low diameter pipes is a subject of great complexity due to the small operation environment in which the tasks must be developed. Besides, the construction of microrobots for specific pipe inspection is too expensive. In this article, a modular multiconfigurable architecture is presented. The fact of being modular and multiconfigur...

Network

Cited By

Projects

Projects (9)
Project
Sonidos del Cielo quiere hacer accesible la ciencia ciudadana involucrando a personas con discapacidad visual y niños que aún no saben leer o escribir por medio del desarrollo de chatbots que utilicen reconocimiento y síntesis de voz. El proyecto cuenta con una infraestructura de radiodetección para captar los ecos de los meteoros. Esta señal se transforma en sonidos y se reproducen a los usuarios, quienes mediante una conversación natural los clasifican y, además, aprenden sobre Astronomía.
Archived project
The main objective is to design a new, low cost, automatic water borne pollution detector of a general-purpose nature. Whilst it is primarily aimed at oil-on-water detection, it will be applicable to a wide range of water pollution problems. Current equipment has inadequate detection capability and is too expensive for the majority of potential pollution producers. The proposed system will be affordable and contribute significantly to industrial, environmental management. It will also make a substantial contribution to disaster avoidance in situations such as ship ballast tanks. The current technical risks will be reduced to a level at which commercial take-up will be attractive proposition to investors. The project is justified by its high benefits to the SME partners and European citizens alike. In the creation of new industrial opportunities, improved environmental management and safety.
Archived project
The main goal of the project is the design and development of a complete modular, heterogeneous and multi-configurable micro-robotic system able to move in very narrow spaces.