Manuel A. Ruiz Garcia

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3D Terrain understanding and structure estimation is a crucial issue for robots navigating rescue scenarios. Large scale 3D point clouds, even if crisp and yielding a detailed representation of the scene, provide no information about what is ground, and what is top, what can be surmounted and what can be not, what can be crossed, and what is too deep to be(More)
We introduce a novel framework for modeling articulated objects based on the aspects of their components. By decomposing the object into components, we divide the problem in smaller modeling tasks. After obtaining 3D models for each component aspect by employing a shape deformation paradigm, we merge them together, forming the object components. The final(More)
We present a method for estimating the contact event between sensor-free active subtracks, named flippers, of an articulated tracked vehicle (ATV) and the terrain surface. The main idea is to consider both the moving base link and unexpected collisions dynamics as disturbances of the flipper dynamics. On this basis we extend the generalized momenta fault(More)
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