Alberto Brunete

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The inspection of low diameter pipes is a subject of great complexity due to the small operation environment in which the tasks must be developed. Besides, the construction of microrobots for specific pipe inspection is too expensive. In this article, a modular multiconfigurable architecture is presented. The fact of being modular and multiconfigurable(More)
Heterogeneous modular robots are a subject of great complexity due to the control problems derived from the different characteristics of each of the modules and the interactions amongst them. In this article, a control structure based on behaviors for robots composed of different drive units and other purpose modules is presented. This article mainly(More)
This paper presents a novel tablet based end-user interface for industrial robot programming (called Hammer). This application makes easier to program tasks for industrial robots like polishing, milling or grinding. It is based on the Scratch programming language, but specifically design and created for Android OS. It is a visual programming concept that(More)
A 2 degrees of freedom module for pipe inspection modular micro-robots based on servomotors is presented in this article. A mechanical and electrical description of the module is also given, including the kinematics and the close control loop design to detect obstacles (walls). The main configurations in which it can be used are described as well:(More)
This paper describes our ongoing effort to build an empathizing and adaptive storyteller system. The system under development aims to utilize emotional expressions generated from an avatar or a humanoid robot in addition to the listener's responses which are monitored in real time, in order to deliver a story in an effective manner. We conducted a pilot(More)
This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inside part of the pipes in order to detect damages, breaks and holes. Due to the(More)
—In order to create effective storytelling agents three fundamental questions must be answered: first, is a physically embodied agent preferable to a virtual agent or a voice-only narration? Second, does a human voice have an advantage over a synthesised voice? Third, how should the emotional trajectory of the different characters in a story be related to a(More)
This paper presents a new simulation environment aimed at heterogeneous chained modular robots. This simulator allows for the testing of the feasibility of the design, the checking of how the modules will perform in the field, and the verifying of the hardware, electronics and communication designs before the prototype is built, saving time and resources.(More)