• Reference: GV/2018/050
  • Principal investigator: Carlos A. Jara Bravo
  • Research Centers: University of Alicante
  • Duration: January 1st, 2017 – December 31th, 2019
  • Financial Entity: Generalitat Valenciana
  • Funding: 16.000 €

The objectives achieved by the project were the following:

  1. Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing: visual control strategy for human-robot collaboration in dynamic environments where the controller is based on the kinematic and dynamic model.
  2. Dynamic Control of Mobile Manipulators with Visual Feedback: dynamic controller that optimizes the torque sent to the actuation system of the robots to improve human-robot interaction in assistance tasks.

Some facts in Numbers


JCR Journals


International Conferences


National Conferences

The proposed robotic platform is intended to provide intelligent assistance to people with some type of motor disability, such as assistance in daily and / or daily tasks and environments. The control system of the robotic system, based on its sensory system, must be able to adapt to dynamic, changing, unstructured environments and in interaction with humans. This project is intended to develop with this proposal an adaptive control strategy based on visual – force control and intelligent manipulation, where the grip and movement of the robotic platform adapts to the type of object and changes in human actions during the global task.


Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing
Belmonte, A.; Ramón, J. L.; Pomares, J.; Garcia, G. J.; Jara, C.A. (2017) Electronics, Vol. 8, No. 4, pp. 374. IF: 2.412 (Q1).

Human Robotics Group - University of Alicante

Design and Control of Robots

Design and Control

of Robots

Advanced mechanical design of robotic devices and kinematic - dynamic control performance

Design and Control of Robots



Control algorithms for humanoid robots to perform collaborative visual and manipulative tasks

Medical Robotics



Development of robotic solutions for assistance and rehabilitation to help physically impaired people

Design and Control of Robots



Visual servo control of satellites and robotic platforms located in the space

HURO research lines are focused in the benefit of humans and environmental impact, developing solutions for human-robot interaction and services, for helping disabled people and for spacecraft control applications.

Contact us

  • Human Robotics
    UA Polytechnic School 3
    Physics, Systems Engineering and Signal Theory Department
    University of Alicante
    Ctra San Vicente del Raspeig s/n
    San vicente del Raspeig
    03690 Alicante, Spain.

  • (+34) 965 903 400 Ext. 1094


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