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Biography
Cristian C Beltran-Hernandez received the B.Sc. Degree in information engineering from the University of La Sabana, Colombia, in 2013, the M.Sc. and Ph.D. degree in engineering science from Osaka University, in 2019 and 2022, respectively. He worked on joint research projects with Fujifilm from 2018 to 2022 on topics related to robotic assembly automation with compliance control. He has been conducting research about robot manipulation as an intern at OMRON SINIC X since 2021. His research interests include robotics manipulation through machine learning techniques.
Download my resumé .
Interests
- Robot Manipulation
- Intelligent Systems (AI, Machine Learning, Reinforcement Learning)
- Industrial Automation
Education
PhD in Engineering, 2022
Osaka University
MEng in Intelligent Systems, 2019
Osaka University
BSc in Computer Science, 2013
University of La Sabana
Languages
Spanish
Native
English
Professional proficiency
Japanese
Conversational (N3)
Experience and Education
Research Internship - Full Time
Research on robot manipulation for a cooking robot.
Robotic Engineer
Developing a new trajectory execution module for MoveIt to allow multiple robots to run simultaneously.
Doctoral Course
Topics:
- Learning force control for contact-rich manipulations with position controlled robots. My research open-sourced repositories: Universal Robots Motion & Force Control, Universal Robots IKFAST DBs, RL learning environments simulation (Gazebo) and real robot.
- Industrial assembly automation with ROS and MoveIt. O2AC Github
Research Internship - Part Time
Support of robotic system developed for the WRS2020 competition during my in-site internship.
Research Internship - Full Time
Implementation of a ROS-based autonomous robotic system for industrial assembly. Additionally, developing motion controllers on top of the motion planner framework MoveIt. Results: Our system was showcased at the World Robot Summit (WRS2020) on the Industrial Robot Category - Assembly Challenge. We obtained 3rd place and a special award from the Japanese Society of Artificial Intelligence JSAI.
Joint Research Project
Osaka University & FUJIFILM Corporation
Working with Prof Kensuke Harada and Fujifilm R&D to create motion planning solutions for industrial assembly tasks based on Reinforcement Learning techniques. Results: a patent and a publication
Master in Engineering Course
Topics:
- Learning robot manipulation via Reinforcement Learning.
- Learning force control for contact-rich manipulations with position controlled robots.
Research Student
Topics:
- Robotics and intelligent systems.
- Motion planning and control.
Software Developer
Design and development of an administrative web application. Backend based on Java 8 using Spring framework and its modules Spring Boot, Spring Security, Spring Cloud and Spring Rest. Database Microsoft SQL Server. Frontend based on JavaScript ES6, React JS, Redux and Material Design. Communication based on Restful Webservices.
Software Engineer
Software design and implementation aimed at supply chain, mainly warehouse management systems (WMS RedPrairie / JDA). Responsible for design, implementation and integration of new modules and customizations on a multi-language environment: Java, C#, C, Groovy, SQL Server, Oracle SQL and PL SQL. Meanwhile, providing consulting services during phases of design, configuration, implementation, and go-live of warehouse management systems (RedPraire /JDA) with several national and international clients.
Internship
Responsibilities include:
- Web service development based on Java language
- Design, development and implementation of databases based on Oracle SQL and Microsoft SQL Server.
- Software development for IBM applications based on C# language
Computer Science Degree
Thesis topic: Development of a fuzzy Logic-based system to monitor and control an algae bio-reactor on a PLC.
Projects
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Member of the O2AC team. We achieve 3rd place in the Assembly Challenge and a special award from the Japanese Society of Artifitial Intelligence (JSAI). Our solution consist of a dual arm set-up with Universal Robots UR5e, parallel grippers, realsense cameras and compliant tools.
Open-source project for simulation/real learning environment for Universal Robot arms.
Learning to grasp using Baxter with joint torque control.
2016/17 Educational robot: First prototype of robot arm, and corresponding Android app.
Honors and Awards
Executive committe chairperson’s award for excellence: 3rd Place Assembly Challenge
World Robot Summit 2020. Our team O2AC placed 3rd at the Industrial Robotics Category, Assembly Challenge.
JSAI Award
Recognition of our solution as a superior system in the Assembly Challenge, O2AC team by Japanese Society of Artificial Intelligence
Best Oral Presentation (優秀講演賞)
第20回計測自動制御学会システムインテグレーション部門講演会 (SI2019)
Best Paper Award Finalist
2019 IEEE/SICE International Symposium on System Integrations (SII)
Finalist of International Session Best Paper Award
The 26th Annual Conference of the Robotics Society of Japan
Academic scholarship by the Japanese Ministry of Education, Culture, Sports, Science and Technology (MEXT)
Mobile Cloud Computing with Android Specialization
Offered by University of Maryland, College Park, Vanderbilt University
See certificate
Recent Publications
Quickly discover relevant content by filtering publications.
(2022).
Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robots.
IROS RA-L 2020.
(2022).
Team O2AC at the World Robot Summit 2020: Towards Jigless, High-Precision Assembly.
Advance Robotics 2022.
Academic activities
Program Committee: Reinforcement Learning for Contact-Rich Manipulation Workshop
Technical Program Committee Member
Reviewer at IEEE Transactions on Automation Science and Engineering
Reviewer at international conferences ICRA, IROS, CASE…
Reviewer at IEEE Robotics and Automation Letters
Contact
- cristianbehe@gmail.com
- +81 070 4117 3257
- Nagase Hongo Building 3F 5-24-5 Hongo, Bunkyo-ku, Tokyo-to 113-0033