@mastersthesis{gonzalez2014,
title = {{Integraci{\'o}n de Planificaci{\'o}n de Alto Nivel, Ejecuci{\'o}n y Percepci{\'o}n en Robots Aut{\'o}nomos}},
author = {Gonz{\'a}lez Dorado, Jos{\'e} Carlos},
year = {2014},
month = {September},
day = {22},
school = {Universidad Carlos III de Madrid (UC3M)},
address = {Legan{\'e}s, Spain},
doi = {10.13140/RG.2.2.22359.32163},
url = {http://hdl.handle.net/10016/27458},
keywords = {social assistive robotics, sar, rehabilitation, classical automated planning, cognitive architecture, facial expressions, relational automated learning},
abstract = {This work presents the design and implementation of part of an ad-hoc architecture for a humanoid, social and autonomous NAO robot. It is part of a project called NAOTherapist and its objective is to supervise upper-limb rehabilitation sessions for kids with Obstetric Brachial Plexus Palsy and Cerebral Palsy. The developed prototype plans the exercises to train in the therapy. After that, the robot manages a rehabilitation session performing the exercises itself. The patient has to imitate it to train the therapeutic objectives. Social and autonomy characteristics of this robot have required a heavy amount of modelling, implementation and original research. The design and implementation to achieve a functional prototype have derived in three parts for this work: the therapy designer with classical Automated Planning, the robot control component and a novel facial expression classifier.}
}