Persona:
Fábregas Acosta, Ernesto

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0000-0003-4478-6626
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Fábregas Acosta
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Ernesto
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2019 - 201912020 - 20231
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  • Miniatura
    Publicación
    Conflict and Reconciliation Processes between Affective/Social Robots and Humans
    (IEEE Access, 2023-09-07) Álvarez Pardo, Guillermo; Fábregas Acosta, Ernesto
    Most research on affective computing relates to recognizing and classifying emotions, usually through facial or body expressions, linguistics, electroencephalograms or other biosignals. A variety of authors have pointed out that for social and affective robots to establish effective, deep and durable bonds with humans, they must emulate human interactions as closely as possible; however, there are aspects of human behavior and interactions, like disputes and resolutions, that have been left aside from the design of such robots. This article introduces a non-intrusive, low-cost system that allows robots to recognize and simulate affections and personality on the basis of human-robot actions, while also allowing robots to recognize and shape the human’s character and the nature of their relationship. It provides a system for robots to trigger and carry out conflict and reconciliation processes with humans.
  • Miniatura
    Publicación
    Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots
    (IEEE, 2019-08-22) Farias, Gonzalo; Garcia, Gonzalo; Dormido Bencomo, Sebastián; Fábregas Acosta, Ernesto; Aranda Escolástico, Ernesto; Chaos García, Dictino; Dormido Canto, Sebastián
    This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.