Alberto Perez Nunez
Papers
3
Total Citations
25
H-Index
3
About
Alberto Pérez Núñez is a robotics researcher specializing in the design, modeling, and control of floating-base and legged robotic systems for challenging environments. His work spans underwater, maritime, and aerial applications, with a focus on innovative locomotion and attitude control strategies. His most cited paper, “Design Of A 4-Dof Robot Manipulator With Optimized Algorithm For Inverse Kinematics” (2015, 11 citations), presents a comprehensive mathematical framework for solving direct and inverse kinematics using D-H parameters, screw theory, and geometric methods—a foundational contribution to industrial manipulator design. He further advanced the field with “Design, Implementation, and Control of the Underwater Legged Robot AquaShoko for Low-Signature Underwater Exploration” (2018, 7 citations), addressing the critical challenge of silt-induced visual obstruction by developing a legged underwater vehicle that minimizes seabed disturbance. In “Centroid Vectoring for Attitude Control of Floating Base Robots: From Maritime to Aerial Applications” (2019, 7 citations), Pérez Núñez introduced a novel control algorithm that leverages the Jacobian matrix to adjust a robot’s center of mass, enabling precise orientation control across both aquatic and aerial domains. His work demonstrates a rare ability to unify theoretical kinematics with practical, environment-aware robotic design, making significant contributions to the development of versatile, low-impact exploration robots.
Research Focus
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Top Papers
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