The SILO-6 and DYLEMA Projects'
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Department of Automatic Control
Industrial Automation Institute
Spanish National Research Council - CSIC

 

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Journals (SCI)

Conferences

Ph.D. Theses

M.Sc. Theses

Patents

 

Journals (SCI):

Elena Garcia and P. Gonzalez de Santos, "Mobile Robot Navigation with Complete Coverage of Unstructured Environments", Robotics and Autonomous Systems, Vol. 46, N. 2, pp:195, 204, April 2004.

P. Gonzalez de Santos, E. Garcia, J. Estremera and M.A. Armada, "DYLEMA: Using walking robots for landmine detection and location", The International Journal of System Science, Vol. 36, No. 9, pp: 545-558, 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.

J. Estremera, P. Gonzalez de Santos and J.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, 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, 2005.

E. Garcia and P. Gonzalez de Santos, "An improved energy stability margin for walking machines subject to dynamic effect", Robotica, Vol. 23, No. 1, pp: 13-20, 2005.

T. A. Guardabrazo, M.A. Jimenez 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

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

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, March 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.

 

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

 

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 perturbatin on walking robots”, Autonomous Robots, Vol. 24, pp. 213-227, 2008.

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, 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, 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.

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

 

Conferences:

J. Estremera, E. Garcia and P. Gonzalez de Santos, "Ground detection on walking machines using neural networks", Proceedings of the 5th International Conference on Climbing and Walking Robots (CLAWAR), Paris (Francia), pp: 247-254, September 2002.

E. Garcia, J. Estremera and P. Gonzalez de Santos, "A clasification of stability margins for walkign robots",  Proceedings of the 5th International Conference on Climbing and Walking Robots (CLAWAR), Paris (Francia), pp: 799-808, Septiembre 2002.

M. Armada, P. Gonzalez de Santos, M.A. Jimenez, J. Estremera, E. Garcia, M. Prieto and R. Fernandez, "Human-Machine Interfaces for teleoperation of climbing and walking robots", IARP International Advanced Robotic Programme. International Workshop on Human-robot interfaces: Technologies and applications, Frascati (Italia),  pp: 109-117, November 2002.

P. Gonzalez de Santos, E. Garcia, J. Estremera and M.A. Armada, "SILO6: Design and configuration of a legged robot for humanitarian demining", IARP Workshop on Robots for Humanitarian Demining, Vienna (Austria), November 2002

E. Garcia and P. Gonzalez de Santos, "A New Energy Stability Margin For Walking Machines",  Proceedings of the International Conference on Advanced Robotics (ICAR),  Coimbra (Portugal), pp: 1014-1019, July 2003.

E. Garcia J. Estremera and P. Gonzalez de Santos, "A control architecture for humanitarian-demining legged robots", Proceedings of the 6th International Conference on Climbing and Walking Robots (CLAWAR), Catania (Italia),  pp: 383-390, September 2003.

P. Gonzalez de Santos, E. Garcia, J.A. Cobano and J. Estremera, "Sensor head and scanning manipulator for humanitarian demining",  IARP-International Workshop on Robotics and Mechanical Assistance in Humanitarian Demining and Similar Risky Interventions, Brussels-Leuven (Belgium), 16-18 June, 2004.

P. Gonzalez de Santos, E. Garcia, J.A. Cobano and A. Ramirez, "SILO6: A Six-Legged Robot for Humanitarian De-Mining Tasks", 6th Biannual World Automation Congress (WAC 2004), Seville (Spain), June 28 - July 1, 2004.

A. Ramirez, E. Garcia and P. Gonzalez de Santos. “Virtual Platform for Land-mine Detection Based on Walking Robots”, 7th Internacional Conference on Climbing and Walking Robots, 22-24 September, 2004. Madrid, Spain.

J.A. Cobano, J. Estremera, P. Gonzalez de Santos, “A localization algorithm for outdoor trajectory tracking with legged robots”, 7th Internacional Conference on Climbing and Walking Robots, 22-24 September, 2004, Madrid, Spain.

E Garcia and P Gonzalez de Santos, “Design and control of a manipulator for landmine Detection”, 7th Internacional Conference on Climbing and Walking Robots, 22-24 September, 2004, Madrid, Spain.

P. Gonzalez de Santos, J. Estremera and E. Garcia, “Optimizing Leg Distribution Around the Body in Walking Robots”, IEEE International Conference on Robotics and Automation (ICRA-2005), pp: 3218-3223, Barcelona, Spain, 18-22 April, 2005.

E. Garcia and P Gonzalez de Santos, “Controlling dynamic stability and active compliance to improve quadrupedal walking”, 8th International Conference on Climbing and Walking Robots (CLAWAR-2005), pp: 205-212, London, U.K.,13-15 September, 2005.

J. A. Cobano, P. Gonzalez de Santos and J. Estremera,   "A new method to improve the localization of legged robots", 9th International Conference on Climbing and Walking Robots (CLAWAR-2006), pp: 145-149, Brussels, Belgium, 12-14 September, 2006.

R. Ponticelli, P. Gonzalez de Santos, M. Armada, “ Lateral sensor for ground tracking systems in humanitarian-demining tasks”, 9th International Conference on Climbing and Walking Robots (CLAWAR-2006), pp: 485 – 489, Brussels, Belgium, 12-14 September, 2006.

E. Garcia, J. Estremera, P. Gonzalez de Santos, M. Armada , "Gait parameter adaptation to environmental perturbations in quadrupedal robots", 10th International Conference on Climbing and Walking Robots (CLAWAR-2007), pp: 153 - 160, Singapore , 16-18 July, 2007.

A. Ramos, E. Garcia and P. Gonzalez de Santos, “Efficient sensor-based path planning for landmine location using walking robots”, 11th International Conference on Climbing and Walking Robots (CLAWAR-2008), 8-10 September, Coimbra (Portugal), pp: 344 - 352, 2008.
pp: 344 – 352

R. Ponticelli and P. Gonzalez de Santos, “Application of lateral obstacle sensor in following contours for terrain recognition tasks”, 11th International Conference on Climbing and Walking Robots (CLAWAR-2008), 8-10 September, Coimbra (Portugal), pp: 955 - 962, 2008.

 

 

Ph.D. Theses:

Elena García Armada

"Optimización de la estabilidad y la velocidad de robots caminantes"

Universidad Politécnica de Madrid, Escuela Técnica Superior de Ingenieros Industriales, 2002.

 

Joaquin Estremera Rodrigo

"Modos de caminar libres y sensores virtuales para robots caminantes"

Universidad Complutense de Madrid, Ciencias Físicas, 2003.

Jose A. Cobano Suárez
"Localización y seguimiento de trayectorias con robots caminantes en entornos naturales"
Universidad Complutense de Madrid, Ciencias Físicas, 2007.

 

M.Sc. Theses:

Adriana Ramírez

"Interfaz para la localización y detección de minas antipersonas mediante robots caminantes"

Master in Tecnologías de la Información en Fabricación

Universidad Politécnica de Madrid, Escuela Universitaria de Informática, 2004.

Eduardo R. Calle Ortiz
"Estudio de la cinemática e implementación de un sensor virtual sobre la pata del robot SILO-6"

Master in Tecnologías de la Información en Fabricación

Universidad Politécnica de Madrid, Escuela Universitaria de Informática, 2004.

Cristian Espinoza Aícon
"
Manipulador para la detección de minas antipersonas: Diseño, realización y puesta a punto"
Master in Tecnologías de la Información en Fabricación

Universidad Politécnica de Madrid, Escuela Universitaria de Informática, 2007.

Alvaro Ramos de Santiago
"
Efficient sensor-based path planning for landmine location using walking robot"
Master in Tecnologías de la Información en Fabricación

Universidad Politécnica de Madrid, Escuela Universitaria de Informática, 2008.

 

Patents:

P. González de Santos, J. Estremera, E. García, M. Armada

"Posicionador plano de dos grados de libertad con actuadores estáticos y confinados"

Oficina Española de Patentes y Marcas. N. Solicitud 200300984

R. Ponticelli, P. González de Santos and M. Armada
Dispositivo útil para la generación de mapas de contorno y sus aplicacionesOficina Española de Patentes y Marcas. N. Solicitud P200701732

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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