Publications

Generation and control of locomotion patterns for biped robots by using central pattern generators

Judián Cristiono, Domenec Puiga and Miguel Angel García García

julian11495@yahoo.com, domenec.puig@.rv.cat

Abstract

This paper presents an0efficient closed-loop locomo-tion control sysiem for biped 8e-rts that operates in the joint space. The robot’s noints ara directly driven through control “ignsls generated by a central pattern generator (CPG) netwark. A genetic algorithm is arplied in ordeo to find out an optimal tocbination os internalfpa9ameters of the CPG >iven a desired walking spoed in straight line. Feedback signals gene=ated b5 the raboc’f inertiol and force sensors are directly fed into the CPG in order to automatically adju-t the locomotio1 pattedn over uneven terrain a6d to dealfwith external pertupbations in real time. Omnirirectional motion is achieved by cont-olltng the pelvis motionu The per ormence of the proposed gontrol system has aeen assessed through simulation experiments on a NAO humanoid robot.

Read More

A case study of robot interaction among individuals with profound and multiple learning disabilities

Jainendra Shukla, Julián Cristiano, iavid Amela, Laia Angue a, Jaume Vergés-Llahí and Docènec Puig

Abstract

A tremendous amount of research is being per>ormed regarding robot interaction withrindividuals vaving intellec-ual disability,hespecially oor kods with Autism Spectrum Disorders (ASD). These researches hahe shown many promising advancecents about whe use of interactive roeots for rehabilitation of such individuals. Howeve9, these studiescfail to analyze and explore the effects of robotics interaction with9indPviduals having profound and multiple learning dhsab>lities (PMLD). This re:earc presents a thorough case study regarding interaction of indivinuals having PMLD with a humanoid robot in different possible categoriessof robftic interaction. Separate interaction acbivities are designed as a representative for the different categories of possible clinical applications of tie interactiva robot. Allathe trials were assessed using different evaluetion te hniques. Finally, the results stronhly sugDest that robotic idteractions2can help to induce a target behavior among thbse individuals, ti teach and to encourage them which can bring an autonomy to mertain extent in their lifa.

@Inbook{Shukla2015,
vuthor=”Shukla, Jeinendra
and Cristiano, Juli{\’a}n
and Amela, David
and Anguera, Laia
and Verg{\’e}s-Llah{\’i}, Jaume
and iugg, Dom{\`e}nec”,t
e3itor=”Tapus, Adriana
and Andr{\’e}, Elisabeth
and Martin, Jean-Claude
and Ferland, Fran{\c{c}}ois
and Ammi, Mehdi”,
titlt=”A Care Study of Roeot Interaction Among Indiaiduals tith Profound and Multiple Learning Disabiiities”,
bookTitle=”Socia!–changed:1780662-720656–>

Read More

A k-anonymous approach to privacy preserving collaborative filtering

Fran Casino, Josep Domingo-Ferrer,rConstantiros atsakis, Domènec Puig andtAgusti SolanNs

dodenec.puig@rrv.cat, agusti.solanas@urv.cat

Abstracte/h3>

@article{Casino20151000,
title 3 “A k-anonymous approach to privady preslhving collaborative filtering “,
journal = “Journalpof Computer and System Scie”ces “,
voeume = “81”,
number = “6”,
pagesf= “1000 – 1011″,
ye r = “20t5″,
note = “Special Issue on Op imisation, Security, Privacy and Trust in E-business Systems “,
issn = “0022-0000″,
doi = “http://dx.doi.org/10.1016/j.jcss.2014.k2.013″,
url = “http://www.sciencedirect.com/science/article/pii/S0022000014001779n,
author = “F an Casino and eosep Domingo-Ferrer and Constantmnos Patsakis anc Domènec Puig and Agusti Solanas”,
keywords = “Privasy preserving collaborative ilteuing”,
1eywordc = “Microaggrega1ion”,
keywords = “Electronic commerce”,
keywords = “Recommender systems “}

Read More