Francisco Yumbla

Francisco Yumbla
Escuela Superior Politecnica del Litoral · Facultad de Ingeniería en Mecánica y Ciencias de la Producción

Doctor of Philosophy

About

30
Publications
21,865
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
180
Citations
Introduction
FRANCISCO YUMBLA (Senior Member, IEEE) received his degree in Electrical Engineering with a specialty in Electronics and Industrial Automation from the Escuela Politécnica del Litoral (ESPOL), Guayaquil, Ecuador, in 2014. He obtained his Ph.D. in Mechanical Engineering in the area of ROBOTICS at Sungkyunkwan University (SKKU), South Korea, in 2021. He was a Postdoctoral researcher at the Robotics Engineering Research Center at Sungkyunkwan University. In 2022, he joined ESPOL
Additional affiliations
August 2021 - present
Sungkyunkwan University
Position
  • PostDoc Position
Education
August 2017 - August 2021
Sungkyunkwan University
Field of study
  • Mechatronics

Publications

Publications (30)
Article
Full-text available
This research focuses on the design of a three-finger adaptive gripper using additive manufacturing and electromechanical actuators, with the purpose of providing a low-cost, efficient, and reliable solution for easy integration with any robot arm for industrial and research purposes. During the development phase, 3D printing materials were employe...
Article
Full-text available
Despite the rise of robotics and automation in industrial applications, the widespread adoption of collaborative robotics still needs to be improved due to the lack of interoperability between robots and the low adaptability of existing systems. Solving this problem would mean a significant advance in robotics and industrial automation. Under this...
Conference Paper
Full-text available
Artificial tactile sensing is important for many robotic manipulation tasks such as environment exploration and object grasping. This paper presents a multilayer flexible force tactile sensor array. The sensor consists of two conductive electrodes spaced by an intermediate layer made from a double-sided tape. The intermediate layer has different-si...
Conference Paper
Full-text available
This paper explores the development of intelligent and adaptive interaction control strategies for physical human-robot-environment interaction. Collaborative robots with variable admittance control have shown promising results in providing compliant behavior of the robot's end-effector in response to human guidance. However, instability can arise...
Article
Full-text available
A service robot needs integration of symbolic reasoning for high-level task planning and geometric computation for low-level motion planning to provide services in an everyday human-living environment. For this purpose, one may develop individual modules for object recognition, knowledge inference, task planning, and motion planning, which requires...
Conference Paper
Full-text available
Grasping and holding objects are essential tasks for robotic manipulators. However, the development of universal grippers capable of manipulating unknown objects with widely varying shapes and surface properties remains a challenge. To address this, we present a novel reconfigurable soft gripper (OobSoft) based on Oobleck, deposited on a rubber mem...
Article
Full-text available
This work proposes an online task-scheduling method using mixed-integer programming for a multi-tasking problem regarding a dual-arm cooking robot in a controlled environment. Given each task’s processing time, their location in the working space, dependency, the required number of arms, and the kinematic constraints of the dual-arm robot, the prop...
Article
Full-text available
The need for combined task and motion planning (CTAMP) in robotics is well known as robotic technologies become more mature. The goal of CTAMP is to determine a proper sequence of a robot’s actions based on symbolic and geometric reasoning. Because of the fundamental difference in symbolic and geometric reasoning, a CTAMP system often requires an i...
Article
Full-text available
In this paper, a new comprehensive dynamic friction model for a collaborative industrial robot joint that considers the velocity, temperature, and load torque is proposed. The variation of load-dependent friction among the four-quadrant operation depending on the sign of load-torque and speed is studied. The new model’s passivity property is analyz...
Article
Full-text available
In this study, we propose the use of a distribute manipulator for repositioning and alignment process of cable connectors to obtain the accurate pose of the connector. The accurate pose is critical for a successful mating process in wiring harness assembly tasks. Conventional actuators such as robotics grippers rely on active manipulations; for exa...
Article
Full-text available
Stiffness adjustability is one of the key characteristics that help humans achieve safe and reliable motions. This paper aims to realize the simultaneous position-stiffness control of an antagonistic joint driven by a type of super-coiled polymer (SCP) artificial muscles, made from a combination of Spandex and nylon fibers. A nonlinear model that c...
Article
Full-text available
A passive aligning strategy for the assembly task of a ribbon cable is presented using a sliding surface gripper. Once the gripper grasps the ribbon cable, the sliding surface of the gripper pulls the cable in one direction, and at the end of the pulling process, the box-shaped structure of the fingertip of the gripper passively aligns the cable to...
Article
Full-text available
Purpose The purpose of this study is to propose a novel plane-based mapping method for legged-robot navigation in a stairway environment. Design/methodology/approach The approach implemented in this study estimates a plane for each step of a stairway using a weighted average of sensor measurements and predictions. It segments planes from point clo...
Conference Paper
Full-text available
The purpose of this paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) to control and simulate different configurations of the Bioloid GP(Grand-Prix) robot. The V-REP simulator includes the full robot kinematic models and integrated sensors in different scenes. We present how to co...
Article
Full-text available
In this research, we studied the mating tolerance of various plug-in cable connectors and provide a mating tolerance dataset of 70 different connectors. This dataset will be highly advantageous to industries for wire harness assembly tasks using robots. Understanding the mating tolerance is crucial for automating the mating process because it is cl...

Network

Cited By