McRobs - Modular and Cooperative Robotic Systems

This project has as its direct and immediate objective the development of a basic architecture and the design of the structure (including kinematics and dynamics) and control systems of a system of modular and cooperative robots, as well as the analysis of mechanisms for monitoring, navigation and coordination of the system.

The project is developed in collaboration with other research groups from UDC and UPV/EHU, having each group its own and particular objectives.

Work founded by MICINN under project number DPI2006-15346-C03-03. Active from October 2006 to September 2009.

Selected Publications

R.J. Duro, M. Graña, J. de Lope (2010) On the potential contributions of hybrid intelligent approaches to Multicomponent Robotic System development. Information Sciences, February 2010.

J.A. Martin, J. de Lope, D. Maravall (2009) Adaptation, anticipation and rationality in natural and artificial systems: Computational paradigms mimicking nature. Natural Computing, 8(4):757-775. [DOI]

J.A. Martin, J. de Lope, M. Santos (2009) A method to learn the inverse kinematics of multi-link robots by evolving neuro-controllers. Neurocomputing, 72(13-15):2806-2814.

J.A. Martin, J. de Lope (2009) A model for the dynamic coordination of multiple competing goals. Journal of Experimental & Theoretical Artificial Intelligence, 21(2):123-136.

D. Maravall, J. de Lope, J.A. Martin (2009) Hybridizing evolutionary computation and reinforcement learning for the design of almost universal controllers for autonomous robots. Neurocomputing, 72(4-6):887-894. [DOI]

D. Maravall, J. de Lope (2009) Neuro Granular Networks with Self-learning Stochastic Connections: Fusion of Neuro Granular Networks and Learning Automata Theory. Advances in Neuro-Information Processing, LNCS 5506. M. Köppen, N. Kasabov, G. Coghill (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 1029-1036.

J. Pereda, J. de Lope, M.V. Rodellar (2008) Evolutionary controllers for snake robots basic movements. Innovations in Hybrid Intelligent Systems, Advances in Soft Computing, vol. 44. E. Corchado, J. Corchado, A. Abraham (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 167-174. [DOI]

J.A. Becerra, F. Bellas, R.J. Duro, J. de Lope (2006) Snake-like behaviors using macroevolutionary algorithms and modulation based architectures. 7th Int. Conf. on Applied Artificial Intelligence, FLINS 2006. [PDF]

Links and Videos

H1 - Helicopter Flight Controller

The goal is to design and develop a computer based system to flight a conventional radiocontrolled helicopter using an external camera. We are developing a next generation transmitter which includes a computer to generate the commands for the helicopters. Also we are making a computer vision system to detect and track the helicopter in order to estimate its coordinates. One of the most important modules tries to learn the flight dynamics directly from samples obtained with the digital camera.

The project is developed in collaboration with Microbótica which provides a large number of resources as for example several models of the helicopters. Active from January 2006 to March 2009.

Selected Publications

J.A. Martin, J. de Lope (2009) Learning autonomous helicopter flight with evolutionary reinforcement learning. Computer Aided Systems Theory, EUROCAST 2009 Revised Selected Papers, LNCS 5717. R. Moreno-Diaz, F. Pichler, A. Quesada (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 75-82.

J. de Lope, J.J. San Martin, J.A. Martin (2007) Helicopter flight dynamics using Soft-Computing models. Computer Aided Systems Theory, EUROCAST 2007 Revised Selected Papers LNCS 4739. R. Moreno-Diaz, F. Pichler, A. Quesada (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 621-628. [DOI]

Links and Videos

Norbert - Studies on humanoid and biped robot locomotion

The goal is to define novel methods for humanoid and bidep robot locomotion. We have used artificial neural networks in order to solve the inverse kinematics of these robots. The networks are implemented in hardware by using commercial Altera FPGA chips. An initial robot prototype and the electronic control system have been also built.

The project's name was chosen in honor of Norbert Wiener, the founder of Cybernetics, a field that formalizes the notion of feedback, which is widely used today. The project is developed in collaboration with Microbótica. Active from January 2003 to December 2006.

Selected Publications

J. Pereda, J. de Lope, D. Maravall (2006) Comparative analysis of artificial neural network training methods for inverse kinematics learning. Current Topics in Artificial Intelligence, CAEPIA 2005 Selected Papers, LNAI 4177. R. Marin et al. (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 171-179. [DOI]

B. Prieto, J. de Lope, D. Maravall (2005) Reconfigurable hardware implementation of neural networks for humanoid locomotion. Artificial Intelligence and Knowledge Engineering Applications: A Bioinspired Approach, LNCS 3562. J. Mira, J.R. Alvarez (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 395-404. [DOI]

J. de Lope, D. Maravall (2005) A biomimetic approach for the stability of biped robots.Climbing and Walking Robots, M.A. Armada, P. Gonzalez (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 593-600. [DOI]

T. Zarraonandia, J. de Lope, D. Maravall (2004) Definition of postural schemes for humanoid robots. Current Topics in Artificial Intelligence, CAEPIA 2003 Selected Papers, LNAI 3040. R. Conejo et al. (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 241-250. [SpringerLink]

J. de Lope, R. Gonzalez, T. Zarraonandia, D. Maravall (2003) Inverse kinematics for humanoid robots using artificial neural networks. Computer Aided Systems Theory, EUROCAST 2003 Revised Selected Papers, LNCS 2809. R. Moreno-Diaz, F. Pichler (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 448-459. [SpringerLink]

J. de Lope, T. Zarraonandia, R. Gonzalez, D. Maravall (2003) Solving the inverse kinematics in humanoid robots: A neural approach. Artificial Neural Nets Problem Solving Methods, LNCS 2687. J. Mira, J.R. Alvarez (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 177-184. [SpringerLink]

ISAAC - Driving Aids with External Cameras and Range Sensors

Several methods for controlling car-like robots have been designed and evaluated, including a set of controllers for parking maneuvers with obstacles. Fuzzy logic and evolutionary algorithms are used for the development of the controllers which are able to drive a car from a intial position and orientation to a desired position and orientations with obstacles and even to make parallel parking maneuvers. We have used external cameras and range sensors in order to detect the vehicle and obstacles locations.

The project has been developed in collaboration with other research groups CSIC-IAI, DEPECA-UAH and UEX, having each group its own objectives. Some of these works are integrated into the Autopia program.

Work founded by MEC under project number DPI2002-04064-C05-05. Active from October 2002 to September 2005.

Selected Publications

D. Maravall, J. de Lope (2007) Multi-objective dynamic optimization with genetic algorithms for automatic parking. Soft Computing, 11(3):249-257. [DOI]

J. de Lope, D. Maravall (2005) Multi-objective dynamic optimization for automatic parallel parking. Computer Aided Systems Theory, EUROCAST 2005 Revised Selected Papers, LNCS 3643. R. Moreno-Diaz, F. Pichler, A. Quesada (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 513-518. [DOI]

D. Maravall, J. de Lope, M.A. Patricio (2004) Competitive goal coordination in automatic parking. Applications of Evolutionary Computing, LNCS 3005. G.R. Raidl et al. (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 537-548. [SpringerLink]

D. Maravall, J. de Lope, M.A. Patricio (2003) Automatic car parking: A reinforcement learning approach. Artificial Neural Nets Problem Solving Methods, LNCS 2686. J. Mira, J.R. Alvarez (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 214-221. [SpringerLink]

SIAMO - Integral System for Assisted Mobility

The project deals with automated wheelchairs. The aim is to develop a semi-autonomous system for wheelchairs. The system assists to the wheelchair user in the navigation tasks independently of his or her disability. Several input devices and navigation methods are proposed. The project is developed in collaboration with DEPECA-UAH.

Work founded by CICYT under project number TER96-1957-C03-02. Active from October 1996 to September 1999.

Selected Publications

M. Mazo et al. (2001) An integral system for assisted mobility (automated wheelchair). IEEE Robotics & Automation Magazine 8(1):46-56. [DOI]

J. de Lope, D. Maravall (2001) Landmark recognition for autonomous navigation using odometric information and a network of perceptrons. Bio-Inspired Applications of Connectionism, LNCS 2085. J. Mira, A. Prieto (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 451-458. [SpringerLink, PDF]

D. Maravall, J. de Lope, F. Serradilla (2000) Combination of model-based and reactive methods in autonomous navigation. IEEE Int. Conf. on Robotics & Automation, ICRA 2000, Vol. 3, 2328-2333. [DOI, PDF]

J. de Lope, D. Maravall, J. Zato (1998) Topological modeling with Fuzzy Petri Nets for autonomous mobile robots. Tasks and Methods in Applied Artificial Intelligence, LNAI 1416. A.P. del Pobil, J. Mira, M. Ali (Eds.) Springer-Verlag, Berlin Heidelberg, pp. 290-299. [SpringerLink, PDF]

Computer Chess

It was not my first professional project but I had a lot of fun. My University organized the 7th World Computer Chess Championship in 1992. Then, we started several works concerning the intelligent games and computer chess. We checked out many ideas and we also got important success by proposing novel tools and heuristics. Fortunately IBM did not contact with us thus we could kept our own goals. The team was co-directed by Ernesto Guisado and myself.

Some years later, I was invited to participate in a symposium on the Spanish engineer and mathematician Leonardo Torres y Quevedo. My speech was about the his chess player as a forerunner of the current chess programs. It was my last contact with the computer chess and the computer chess world.

Selected Publications

J. de Lope (2004) En torno al ajedrecista de Torres Quevedo. El ajedrez en la historia de la computación. IV Simposio Ciencia y Técnica en España de 1898 a 1945: Cabrera, Cajal, Torres Quevedo, pp. 325-339.

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