Representative publications


  2009

S. Nabulsi, J. Sarria, H. Motes and M. Armada "High-Resolution Indirect Feet-Ground Interaction Measurement for Hydraulic-Legged Robots" IEEE Transactions on Instrumentation and Measurement, Vol. 58, No. 10, Oct 2009.

T. Akinfiev, M. Armada, S. Nabulsi, "Climbing cleaning robot for vertical surfaces" Industrial Robot: An International Journal, Vol. 36, No. 4, 2009.

P. Gonzalez de Santos, E. Garcia, R. Ponticelli and M. Armada, “Minimizing Energy Consumption in Hexapod Robots”, Advanced Robotics Vol. 23, pp.  681–704, 2009. DOI:10.1163/156855309X431677

K. J. Waldron, J. Estremera, P. J. Csonka and S. P. N. Singh, “Analyzing Bounding and Galloping Using Simple Models”, Journal of Mechanisms and Robotics, Vol. 1, 2009.

R. Fernandez,T. Akinfiev,and A. Armada, Control of the Hop Height of a One-Legged Resonance Robot, Automation and Remote Control, Vol. 70, No. 1, pp. 64–73, 2009.

  2008

R. Aracil, C. Balaguer and M. A. Armada, “Robot de Servicio”, Revista Iberoamericana de Informática y Automática, Vol. 5, No. 2, pp. 6-13, 2008.

T. S. Akinfiev, M. A. Armada and R. Fernandez, “Nondestructive Testing of the State of a Ship’s Hull with an Underwater Robot”, Russian Journal of Nondestructive Testing, Vol. 44, No. 9, pp. 626-633, 2008.

J. Estremera and K.J. Waldron, "Thrust Control, Stabilization and Energetics of a Quadruped Running Robot", The International Journal of Robotics Research, Vol 27, No. 10, October 2008, pp.1135-1151.

J. A. Cobano, R. Ponticelli and P. Gonzalez de Santos, “Mobile robotic system for detection and location of antipersonnel land-mines: Field tests”, Industrial Robot, Vol. 35, N. 6, pp: 520-527, 2008.

R. Ponticelli, P. Gonzalez de Santos, “Full perimeter obstacle contact sensor based on flex sensors”, Sensors and Actuators A: Physical, Vol. 147, pp. 441-448, 2008, DOI::10.1016/j.sna.2008.05.029

J. A. Cobano, J. Estremera and P. Gonzalez de Santos, “Location of legged robots in outdoor environments”, Robotics and Autonomous Systems, Vol. 56, pp: 751-761, 2008, DOI: http://dx.doi.org/10.1016/j.robot.2007.12.003

R. Ponticelli, E. Garcia, P. Gonzalez de Santos y M. Armada, “A scanning robotic system for humanitarian de-mining activities”, Industrial Robot, Vol.: 35 N.: 2, pp: 133 – 142,  2008, DOI: 10.1108/01439910810854629.

E. Garcia,
P. Gonzalez de Santos and F. Matia, “Dealing with internal and external perturbation on walking robots”, Autonomous Robots, Vol. 24, pp. 213-227, 2008.
P. Gonzalez de Santos, J. Estremera, E. Garcia and M. Armada, “Power assist devices for installing plaster panels in construction”, Automation in Construction, Vol. 17, pp. 459-466, 2008

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  2007


E. Garcia and P. Gonzalez de Santos,  “Hybrid deliberative/reactive control of a scanning  system for landmine detection”, Robotics and Autonomous Systems, Vol. 55, pp. 490-497, 2007.

E. Garcia, M.A. Jimenez, P. Gonzalez de Santos and M. Armada, “ The Evolution of Robotics Research: From Industrial Robotics to Field and Service Robotics, IEEE Robotics and Automation Magazine, Vol. 14, No. 1, pp. 90-103, March 2007.

P. Gonzalez de Santos, J. A. Cobano, E. Garcia, J. Estremera and M.A. Armada, “A six-legged robot-based system for humanitarian demining missions”, Mechatronics,Vol. 17, pp. 417-430, 2007.

P. Gonzalez de Santos, E. Garcia and J. Estremera, “Improving walking-robot performances by optimizing leg distribution”, Autonomous Robots, Vol. 23, N. 4, pp. 247-258, 2007.


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  2006


E. Garcia and P. Gonzales de Santos, “On the improvement of walking performance in natural environments by a compliant adaptative gait”, IEEE Transactions on Robotics, Vol. 22, No. 6, pp: 1240-1253, December 2006. 

T. A. Guardabrazo, M.A. Jiménez and P. Gonzalez de Santos,
“Analysing and solving body misplacement problems in walking robots with round rigid feet” Robotics and Autonomous Systems, Vol. 54, pp. 256 - 264,  March, 2006.

C. Balaguer, G. S. Virk and M. Armada, " Robot apllications against gravity", IEEE Robotics and Automation Magazine, Vol. 13, No. 1, pp. 5 - 6, March 2006.

H. Montes, S. Nabulsi and M. Armada, "Reliable, built-in, high-accuracy force sensing for legged robots", The International Journal of Robotics Research, Vol. 25, No. 9, pp. 931 - 950, September 2006.

R. Caballero, M. Armada and P. Alarcon, "Methodology for zero-moment point experimental modelling in the frequence domine", Journal of Vibration and Control, Vol. 12, pp. 1385 - 1406, 2006.

  

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  2005


J. Estremera and P. Gonzalez de Santos, "Generating continuous free crab gaits for quadruped robots on irregular terrain", IEEE Transactions on Robotics, Vol. 21, No. 6, pp: 1067-1076, 2005.

P. Gonzalez de Santos, E. Garcia, J. Estremera and M. Armada, "DYLEMA: Using Walking Robots for Landmine Detection and Location", International Journal of Systems Science, Vol. 36, No. 9, pp. 545-558, 2005.

J. Estremera, P. Gonzalez de Santos and L.A. Lopez-Orozco, "Neural virtual sensor for terrain adaptation of walking machines", Journal of Robotic Systems, Vol. 22, No. 6, pp: 229-311, 2005.


P. Gonzalez de Santos, J. Estremera and E. Garcia, "Optimizing Leg Distribution Around the Body in Walking Robots", Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp: 3218-3223, 2005.

P. Gonzalez de Santos, J. Estremera, E. Garcia and M. Armada, "Including Joint Torques and Power Consumption in the Stability Margin of Walking Robots", Autonomous Robots, Vol. 18, pp: 43-57, January 2005.

E. Garcia and P. Gonzalez de Santos, "An improved energy stability margin for walking machines subject to dynamic effect", Robotica, Vol. 23, No. 11, pp: 13-20, 2005.


R. Molfino, M. Armada, F. Cepolina, M. Zoppi, “
ROBOCLIMBER the 3 ton spider”, Industrial Robot, Vol. 32, N. 2, pp. 163-170, 2005.

M. Armada, “Robotics: now and beyond”, Industrial Robot, Vol. 32 No. 2, 2005.

R. Fernández, J. Hespanha, T. Akinfiev, M. Armada, “
Dual smart drive nonlinear control using backstepping and   a time-optimal Reference”, Autonomous Robots, Vol. 19, No. 3, pp. 233-255, December 2005.

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  2004

E. Garcia and P. Gonzalez de Santos, “Mobile Robot Navigation with Complete Coverage of Unstructured Environments”, Robotics and Autonomous Systems, Vol. 46, No. 2, pp: 195 – 204, 2004.


Tomas A. Guardabrazo and P. Gonzalez de Santos, "Building an energetic model to evaluate and optimize power consumption in walking robots", Industrial Robot, Vol. 31, No. 2, pp.  201-:204, 2004.

H. Montes, L. Pedraza, M. Armada, T. Akinfiev, R. Caballero, “Adding extra sensitivity to the SMART non-linear actuator using sensor fusion”, Industrial Robot, Vol. 31, N. 2, pp. 179-188, 2004.

G.S. Virk, G. Muscato, A. Semerano, M. Armada, H.A. Warren, “
The CLAWAR project on mobile robotics”, Industrial Robot, Vol. 31, N. 2, pp. 130-138, 2004.
  R. Caballero, M. Armada, T. Akinfiev, “Robust cascade controller for nonlinearly actuated biped robots    Experimental evaluation”, International Journal of Robotics Research, Vol. 23, N. 11, Nov. 2004

R. Caballero, M. Armada, T. Akinfiev, “Robust cascade controller for nonlinearly actuated biped robots Experimental evaluation”, International Journal of Robotics Research, Vol. 23, N. 11, Nov. 2004

 

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 2003

P. Gonzalez de Santos, J.A. Galvez, J. Estremera and E. Garcia, "SILO4 - A true walking robot for the comparative study of walking machine techniques", IEEE Robotics and Automation Magazine, Vol. 10, No. 4, pp. 23-32. December 2003.

P. Gonzalez de Santos; J. Estremera; M.A. Jimenez; E. García; M. Armada, "Manipulators help out with plaster panels in construction", Industrial Robot, Vol. 30,  No. 6,  pp: 508-514, 2003.


E.
Garcia, J.A.  Galvez  and P. Gonzalez de Santos, "On finding the relevant dynamics for model based controlling walking robots", Journal of Intelligent and Robotic Systems, Vol. 37, No.4, pp. 375-398, August 2003.

M.A. Armada, P. Gonzalez de Santos, M.A. Jimenez and M. Prieto, "Application of CLAWAR machines",  The International Journal of Robotics Research, Vol. 22 , No. 3-4, pp. 251-164. April, 2003.

J.A. Galvez, J. Estremera and P. Gonzalez de Santos, "A new legged-robot configuration for research in force distribution", Mechatronics, Vol. 13, pp. 907-932, 2003.
 

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 2002

J.Estremera, E. Garcia and P. Gonzalez de Santos, "A Multi-Modal and Collaborative Human-Machine Interface for a Walking Robot ," Journal of Intelligent and Robotic Systems Vol. 35, pp. 397-425, 2002.

E. Garcia, J. Estremera and P. Gonzalez de Santos, "A comparatice study of stability margins for walking machines", Robotica, Vol. 20 , No. 6, pp. 595-606. November, 2002

E. Garcia, P. Gonzalez de Santos and C. Canudas de Wit, "Velocity dependance in the Cyclic Friction Arising with Gears", The International Journal of Robotics Research, Vol. 21 , No. 9, pp. 761-771. Septiembre, 2002.

P. Gonzalez de Santos, M.A. Jiménez and M.A. Armada, "Improving the motion of walking machines by autonomous kinematic calibration", Autonomous Robots, Vol. 12, No. 2, pp. 135-156, March 2002.

J. Estremera and P. Gonzalez de Santos, "Free Gaits for Quadruped Robots over Irregular Terrain", The International Journal of Robotics Research, Vol. 21, No. 2, pp. 115-130, February 2002.

T. Akinfiev, M. Armada, “The Influence of Gravity on Trajectory Planning for Climbing Robots with Non-rigid Legs”,
Journal of Intelligent and Robotic Systems, Vol 35, pp.309-326, 2002.
  

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 2001-1991

E. Garcia and  P. Gonzalez de Santos, "Using soft computing techniques for improving foot trajectories in walking machines", Journal of Robotic Systems, Vol. 18, No. 7,  pp. 343-356, July 2001.

J.A. Galvez, P. Gonzalez de Santos and F. Pfeiffer, "Intrinsic tactile sensing for the optimization of force distribution in a pipe crawling robot", IEEE/ASME Transactions on Mechatronics, Vol. 6, No. 1, pp. 26-35, 2001.

P. Gonzalez de Santos, M.A. Armada and M. A. Jimenez, "Ship building with ROWER", IEEE Robotics and Automation Magazine, Vol. 7, No. 4, pp. 35- 43, 2000.

T. Akinfiev, M. Armada, M. Prieto, M. Uquillas, “Concerning a Technique for Increasing Stability of Climbing Robots”,
Journal of Intelligent and Robotic Systems, Vol 27, pp. 195-209, 2000.

J.M. Abreu, R. Ceres, L. Calderon, M. A. Jimenez and P. Gonzalez de Santos, "Measuring the 3D-position of a walking vehicle using ultrasonic and electromagnetic waves", Sensors and Actuators, Vol. 75, pp. 131-138, 1999.

M. A. Jimenez and P. Gonzalez de Santos, "Attitude and Position Control for Non-Rigid Walking Machines", Mechanism and Machine Theory, Vol. 33, Nº 7, pp. 1013-1029, 1998.

P. Gonzalez de Santos, M. A. Jimenez and M.A. Armada, "Dynamic Effects in Statically Stable Walking Machines", Journal of Intelligent and Robotic Systems,  Vol. 23, Nº 1, pp. 71- 85, 1998.

M. Maza, J.G. de la Fontaine, M. A. Armada , P. Gonzalez de Santos, V. Papantoniou and M. Mas, "Wheel + Legs: A New Solution for Traction Enhancement without Additive Soil Compaction", IEEE Robotics & Automation Magazine, Vol. 4, Nº 4, pp. 26-33, 1997.

M. A. Jimenez and P. Gonzalez de Santos, "Terrain adaptive gait for walking machines", The International Journal of Robotics Research, Vol. 16, No. 3, pp. 320-339, 1997.

M. A. Armada and P. González de Santos, "Climbing, walking and intervention robots", Industrial Robot, Vol. 24, Nº 2, pp. 158-163, 1997.

M. A. Armada, M. Maza, J.G. Fontaine, P. Gonzalez de Santos and V. Papantonius, "Tracminer: Traction-enhancing minig equipment accessory", Industrial Robot, Vol. 24, Nº 5, pp. 370-375, 1997.

P. Gonzalez de Santos, M. A. Armada and M. A. Jimenez, "Walking Machines: Initial Testbeds, first industrial applications and new research", Computing and Control Engineering Journal, Vol. 8, Nº 5, pp. 233-237, 1997.

P. Gonzalez de Santos, M. A. Armada and M.A, Jimenez, "An Industrial Walking Machine for Naval Construction",  IEEE International Conference on Robotics and Automation,  Albuquerque (NM),  pp. 28-33, 1997.

M. A. Jimenez and P. Gonzalez de Santos, "Position-based motion control and adaptability of periodic gaits for realistic walking machines", International Journal of Systems Science, Vol. 27, Nº 8, pp. 723-739, 1996.

M. A. Jimenez and P. Gonzalez de Santos, "Attitude and position control methods for realistic legged vehicle", Robotics and Autonomous Systems, Vol.18, pp. 345-354, 1996.

P. Gonzalez de Santos and M. A. Jimenez, "Generation of Discontinuous Gaits for Quadruped Walking Machines", Journal of Robotic Systems, Vol. 12, Nº 9, pp. 599-611, 1995.

V.O.Gamarra-Rosado, G. Fernández, J.C. Grieco, M. Armada, N. Aliane, “Automation and cybernetics: control of a flexible one-link manipulator”, Kybernetes, Vol. 25, N. 5, pp.38-47, 1996.

R. Ceres, J.M. Martin, L. Calderón, M. A. Armada, J.L. Pons, “Photosensor tracks transients”, Industrial Robot, Vol. 22, Nº 1, pp.21-24, 1995.

P. Gonzalez de Santos and M. A. Jimenez, "Path Tracking with Quadruped Walking Machines Using Discontinuous Gaits", Computers and Electronic Engineering, Vol. 21, Nº 6, pp. 383-396, 1995.

R. Ceres, J.M. Martin, L. Calderón, T. Freire, M. Armada, “Environment recognition in welding processes by ultrasonic sensors”; Sensors and Actuators A, 37-38, pp. 635-638, 1993.

P. Gonzalez de Santos, P.V. Nagy and W.L. Whittaker, "Attitude Control Methods for Walking Machines", 1992 ASME Mechanisms Conference, Scottsdale (Arizona), pp. 89-94, 1992.

P. Gonzalez de Santos, Peter V. Nagy and Willian L. Whittaker, "Levelling of the AMBLER Walking Machines: A comparison of methods", Technical Report (CMU-IR-TR-91-13), The Robotics Institute - Carnegie Mellon University, Pittsburgh, PA, pp. 1-38, 1991.

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  TextBooks

P. Gonzalez de Santos, E. Garcia and J. Estremera, QUADRUPEDAL LOCOMOTION: An Introduction to the Control of Four-Legged Robots, Springer, London, 2006.

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  Edited Books

J. Aranda, P. Gonzalez de Santos and J.M. de la Cruz, "Robotics and Automation in the Maritime Industries", PGM, Madrid, Spain, 2006, ISBN: 978-84-611-3915-6, 84-611-3915-1.

M. Armada and P. González de Santos, "
Climbing and Walking Robots (CLAWAR-2004)", Springer Verlag, 2005, ISBN: 3-540-22992-2.  

J. Aranda, M. Armada and J.M. de la Cruz, "
Automation for the Maritime Industries", PGM, Madrid , Spain, 2004, ISBN: 84-609-3315-6.

M. Armada, P. González de Santos and S. Tachi, "
Measurement and Control in Robotics", PGM, Madrid, Spain para IMEKO, 2003, ISBN: 84 607 9693 0 (Hardcover). 

M. Armada and P. González de Santos, "
Climbing and Walking Robots  and the support technologies for Mobile Machines(CLAWAR-2000)", Springer Verlag, 2005, ISBN: 1-86058-268-0.