Cecilia Murrugarra

Simón Bolívar University, Universidad El Bosque

Papers

Total Citations

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About

Cecilia Murrugarra’s research lies at the intersection of robotics, control theory, and kinematic modeling, with a focus on advancing the precision and autonomy of robotic systems. Her work spans from vision-based navigation for mobile robots to the intricate mechanics of continuum manipulators. In her most cited paper (7 citations), she introduced a vision-based dynamic velocity field generation method for mobile robots, enabling more adaptive and responsive navigation in unstructured environments. Murrugarra also made significant contributions to the modeling of tendon-driven continuum robots, conducting a rigorous analysis of the constant curvature kinematic model and validating it experimentally to bridge the gap between mathematical theory and physical robot behavior. Her earlier work on flexible-link manipulators proposed a Lyapunov-based PD position control scheme, rigorously proving existence, uniqueness, and asymptotic stability of the equilibrium point. Though her citation counts are modest, her experimental validation of continuum robot kinematics and her control-theoretic approach to flexible manipulators represent foundational steps in their respective fields, demonstrating a commitment to both theoretical depth and practical feasibility.