Ramón Barber

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This paper presents a framework for multimodal human-robot interaction. The proposed framework is being implemented in a personal robot called Maggie, developed at RoboticsLab of the University Carlos III of Madrid for social interaction research. The control architecture of this personal robot is a hybrid control architecture called AD(More)
Lately, lots of effort has been put into the construction of robots able to live among humans. This fact has favored the development of personal or social robots, which are expected to behave in a natural way. This implies that these robots could meet certain requirements, for example: to be able to decide their own actions (autonomy), to be able to make(More)
This paper presents a reinforcement learning algorithm which allows a robot, with a single camera mounted on a pan tilt platform, to learn simple skills such as watch and orientation and to obtain the complex skill called approach combining the previously learned ones. The reinforcement signal the robot receives is a real continuous value so it is not(More)
The future of robotics predicts that robots will integrate themselves more every day with human beings and their environments. To achieve this integration, robots need to acquire information about the environment and its objects. There is a big need for algorithms to provide robots with these sort of skills, from the location where objects are needed to(More)
In the present paper a system for generation of topological maps is going to be presented. This system is considered as one of the deliberative skills of the mobile robots architecture named AD. AD is a two level architecture: deliberative and automatic. Those skills which require high computational time as consequence of high level reasoning are found in(More)
To move around the environment, human beings depend on sight more than their other senses, because it provides information about the size, shape, color and position of an object. The increasing interest in building autonomous mobile systems makes the detection and recognition of objects in indoor environments a very important and challenging task. In this(More)
This work describes a Simulink lab practice using Arduino as low cost hardware. A Shell must be developed in order to adapt Arduino signals to the real plant, consist of a DC motor. With Arduino architecture and with open hardware a cheap Data Acquisition card has been build. Several tests have been done to validate de full system and a frequency study has(More)