• Address:

Escuela Politecnica Superior

C/ Francisco Tomas y valiente, 11

28049 Madrid

Spain

• Room: B-209

• Telephone: +34- 91 497 22 68

• Fax: +34 – 91 497 22 35

• Email: juan.gonzalez@uam.es

• Personal email: juan@iearobotics.com

Currently I am working on my Ph. D. Dissertation about modular robots and robotics. I have designed a basic module for the construction of several modular robots. Locomotion capabilities of modular robots is another research topic.

• [2006]: Pitch-yaw connecting modular robot composed of 8 linked modules:

  • The robot has been developed based on the collaboration with Dr. Houxiang Zhang, during my three-month visiting to the TAMS group in University of Hamburg.

  • Locomotion capabilities:

    • Sinusoidal movement [Video].

    • Turning [Video]

    • Lateral shifting [Video].

    • Rotating [Video]

    • Rolling [Video]

[2005]: Minimal configurations in 1D and 2D

• Built three novel minimal configurations for finding its locomotion capabilities. Two modules are needed for locomotion in 1D and three for locomotion in 2D.

• PP: Pitch-pitch configuration. [Video]

• PYP: Pitch-yaw-pitch configuration. [Video 1] [Video 2] [Video 3] [Video 4]

• Three-points star configuration. Minimal configuration in 2D. [Video 1] [Video 2]

[2004]: Pitch-connecting modular robot, composed of 8 linked modules.

• Locomotion capabilities:

  • Sinusoidal movement: [Video]

  • Caterpillar locomotion: [Video]

  • Rolling wheel: [Video]

    

• All detail information can be found here (in Spanish)

• More pictures:

[2003]: Basic modules for building modular robots.

• Very cheap and easy to build

• One degree of freedom, actuated by the Futaba 3003 servo

• More information in this link (in Spanish)

• H.X. Zhang, J. Gonzalez-Gomez, S.Y. Chen, W. Wang, R. Lin, D. Li, J.W. Zhang. A Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers. IEEE/ASME International Conference on Advanced Intelligent Mechatronics. AIM2007. ETH Zurich, September 4-7, 2007, Switzerland. This paper was finalist for the AIM 2007 Best Paper Award (Certificate) [Paper in PDF]

• Gonzalez-Gomez J., Zhang H., Boemo E., and Zhang J., “Locomotion Capabilities of a Modular Robot with Eight Pitch-Yaw-Connecting Modules”. Proceeding of the 9^th International Conference on Climbing and Walking Robots, CLAWAR 2006, Brussels, Belgium, September, 2006. [HTML] [PDF] [Presentation slides in PDF]

• Gonzalez-Gomez, J., Gonzalez, I., Gomez-Arribas FJ., and Boemo E., “Evaluation of a locomotion algorithm for worm-like robots on FPGA-embedded processors”. Proceeding of the International Workshop on Applied Reconfigurable Computing, ARC, 2006, Delf, The Nertherlands, March, 2006. [HTML] [PDF]

• Gonzalez-Gomez J. and Boemo E., “Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift”, Proceeding of the 8^th International Conference on Climbing and Walking Robots, CLAWAR, 2005, London, September, 2005, pp. 667-674. This paper received the “Industrial Robot Highly Commended Award”. [HTML] [PDF] [Presentation slides in PDF]

• Gonzalez-Gomez J., Aguayo E. and Boemo E., “Locomotion of a Modular Worm-like Robot using FPGA-based embedded MicroBlaze Soft-processor”, Proceeding of the 7^th International Conference on Climbing and Walking Robots, CLAWAR, 2004, Madrid, Spain,September, 2004, pp. 869-878. [HTML] [PDF] [Presentation slides in PDF]

Publications in Spanish:

• (Spanish) J. Gonzalez-Gomez, I Gonzalez, FJ. Gomez-Arribas y E. Boemo ,”Evaluación de un Algoritmo de Locomoción de Robots Ápodos en Diferentes Procesadores Embebidos en FPGA” , V Jornadas de Computación Reconfigurable y Aplicaciones. JCRA 2005. Dentro del Primer Congreso Español de Informática, CEDI 2005. Granada (Spain), Septiembre 2005.

• (Spanish) De Blas Foix, X, Gonzalez-Gomez, J, “Proyecto Chronojump: Sistema de Medida y Gestión de la Capacidad de Salto usando Software y Hardware Libres” , I Congreso de Tecnologías de Software Libre, CTSL 2005, Factultad de Informática, A Coruña. Julio 2005.

• (Spanish) Juan Gonzalez-Gomez y Andres Prieto-Moreno Torres, “Hardware libre: la Tarjeta Skypic, una Entrenadora para Microcontroladores PIC", I Congreso de Tecnologías de Software Libre, CTSL 2005, Factultad de Informática, A Coruña. Julio 2005.

• (Spanish) Gonzalez-Gomez, J, Aguayo E. y Boemo E, “Locomoción de un Robot Ápodo Modular con el Procesador MicroBlaze”, IV Jornadas sobre Computación Reconfigurable y Aplicaciones, JCRA04, Escuela Técnica Superior de Ingenierías. Universidad Autónoma de Barcelona, Septiembre 2004.

• (Spanish) Gonzalez-Gomez, J, “Simulación de Diseños VHDL con Software Libre: La Herramienta GHDL”, IV Jornadas sobre Computación Reconfigurable y Aplicaciones, JCRA04, Escuela Técnica Superior de Ingenierías. Universidad Autónoma de Barcelona, Septiembre 2004

• (Spanish) Juan Gonzalez, Andres Prieto-Moreno, "Herramientas hardware y software para el desarrollo de aplicaciones con Microcontroladores PIC bajo plataformas GNU/Linux", III Jornadas de Software Libre, Universidad Pontificia de Salamanca en Madrid. Mayo 2004

• (Spanish)Ivan Gonzalez, Juan Gonzalez, Francisco Gomez-Arribas, “Hardware libre: clasificación y desarrollo de hardware reconfigurable en entornos GNU/Linux", VI Congreso de Hispalinux, Universidad Rey Juan Carlos I, Septiembre 2003

• (Spanish)FJ. Gomez-Arribas, I. Gonzalez, J. Gonzalez y J. Martinez, “Laboratorio Web para Prototipado y Verificación de Sistemas Hardware/Software''. III Jornadas sobre Computación Reconfigurable y Aplicaciones, JCRA03, Escuela Politécnica Superior, Universidad Autónoma de Madrid, Septiembre 2003.

• (Spanish) J Gonzalez, I. Gonzalez, E. Boemo, “Alternativas Hardware para la Locomoción de un Robot Ápodo'', III Jornadas sobre Computación Reconfigurable y Aplicaciones, JCRA03, Escuela Politécnica Superior, Universidad Autónoma de Madrid, Septiembre 2003.

• (Spanish) J. Gonzalez, P.Haya, S. Lopez-Buedo y E. Boemo, “Tarjeta entrenadora para FPGA, basada en hardware abierto", Seminario Hispabot 2003, Alcalá de Henares, Madrid, Mayo 2003.

• International conferences:

  • CLAWAR 2006. International Conference on Climbing and Walking Robots. Brussels, Belgium.

  • ARC 2006. International Workshop on Applied Reconfigurable Computing. Delft, The Nertherlands

  • CLAWAR 2005. International Conference on Climbing and Walking Robots. London, UK.

  • CLAWAR 2004. International Conference on Climbing and Walking Robots. Madrid, Spain.

• Workshops and conferences given by me in several Spanish Universities, in order to spread the robotics in Spain.

  • Workshop: “Workshops on Mobile Robotics”. (10 hours)

    • Campus Party. Valencia. July 2006.

    • Universidad de Cadiz. Nov 2005

    • Campus Party. Valencia. July 2005.

    • Universidad Alfonso X. Madrid. Nov 2003.

  • Invited Conferences:

    • “Robótica modular y locomoción: Robots Cube Revolutions y Multicube”. Universidad Rey Juan Carlos. Móstoles. Madrid. January. 2006

    • “Sesiones de robótica”, Comunidad de Madrid. Universidad Pontificia de Salamanca. Campus de Madrid. UPSAM. April 2005.

    • “Diseño de Robots ápodos: Cube Revolutions”, Concurso de robótica Robolid05. School of Engineering. Universidad de Valladolid. April 2005.

    • “Robótia y Linux: Cómo se hizo Cube Revolutions”, IV Jornadas de Software libre en la UPSAM. Marzo 2005.

    • “Robótica y Linux”, ¡Innovame!. Jornadas de difusión de la innovación tecnológia. CDTinternet.net. Madrid.January 2005.

    • “Diseño de Robots Ápodos: Cube Revolutions”, IV Semana de la ciencia en Madrid. Universidad Pontificia de Salamanca en Madrid. UPSAM. Noviembre 2004.

    • “Diseño de Robots ápodos: Cube Revolutions”, Semana de la Ciencia y Tecnología. Escuela Superior de Ingeniería de Cádiz. UCA. Noviembre 2004.

    • “El robot ápodo Cube Revolutions”. SICFIMA 2004. Facultad de Informática. UPM. Marzo. 2004.

I am very interested in robotics, not just for working, but for having fun. Also, I like the Open Source applications. All the software I have developed has been released under the GNU GPL license. My favourite operating systems is GNU/Linux.

In my spare time I like reading science fiction books and going to the cinema. Playing tennis, skating and skiing are my favourite sports

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