David Herrero‐Perez

About

David Herrero-Perez is a leading researcher in robotics and autonomous systems, with a career spanning humanoid locomotion, industrial automation, and soft robotics. His most influential work addresses the critical challenge of translating theoretically stable gaits into physically robust performance on real humanoid robots. His 2013 paper on ZMP-based feedback control for the Nao robot (50 citations) provides a practical solution to the "reality gap" that often plagues bipedal walking, ensuring dynamic balance on physical platforms. In parallel, Herrero-Perez has made significant contributions to flexible manufacturing, pioneering decentralized coordination strategies for Automated Guided Vehicles (AGVs) that enable collision-free, kinematics-aware motion in complex factory environments. His work on fuzzy logic for mobile robot localization—using natural features, wireless sensor networks, and intelligent spaces—has been foundational for robust positioning in uncertain environments. More recently, he has expanded into soft robotics, designing novel grippers for underwater grasping. With over 220 total citations across his top ten papers, Herrero-Perez’s research consistently bridges the gap between theoretical control and real-world deployment, making him a key figure in both service robotics and industrial automation.

Research Focus

Key Achievements

Top Papers

1. 1
   Robust feedback control of ZMP-based gait for the humanoid robot Nao

   50 citations · 2013
2. 2
   Decentralized coordination of autonomous AGVs in flexible manufacturing systems

   36 citations · 2008
3. 3
   Fuzzy uncertainty modeling for grid based localization of mobile robots

   26 citations · 2010
4. 4
   Fuzzy Self-Localization Using Natural Features in the Four-Legged League

   25 citations · 2005
5. 5
   Self-Configuration of Waypoints for Docking Maneuvers of Flexible Automated Guided Vehicles

   23 citations · 2013
6. 6
   Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks

   16 citations · 2011
7. 7
   Programming multirobot applications using the ThinkingCap-II Java framework

   15 citations · 2009
8. 8
   Motion planning for omnidirectional dynamic gait in humanoid soccer robots

   11 citations · 2011
9. 9
   Multilayer distributed intelligent control of an autonomous car

   11 citations · 2014
10. 10
    Soft Gripper Design and Fabrication for Underwater Grasping

    10 citations · 2022

Key Collaborators

Contact & Links