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The purpose of this paper is to develop a control strategy for human–robot collaborative manipulation tasks that can deal with proximity signals from 373 interconnected cells of an artificial skin.

The robot and the operator accomplish an industrial task while interacting in a shared workspace. The robot controller detects and avoids collisions based on the information from the artificial skin. Conflicting constraints can be handled by prioritizing between hard and soft constraints or by weighing the different constraints.

Weak soft constraints (low weight) are specified to command the robot to move along a nominal path with constant velocity. Stronger soft constraints (higher weight) prevent collisions by means of either moving the end effector backward along the path or circumventing an obstacle. The proposed approach is validated experimentally.

As a first contribution, this paper proposes a discrete optimization algorithm activates an a priori selected maximum number of cells. The algorithm selects the appropriate distribution based on the amplitude of each signal and the spatial distribution of the proximity measurements. A second contribution is the specification of a human–robot collaborative application as an optimization problem using eTaSL (expression graph-based task specification language), which provides reactive control.

Uncertainty is one of the principal features of public administration in Colombia. Therefore, presenting a clear and consistent analysis is difficult. This uncertainty exists alongside interesting efforts to modernize institutions. Among the challenges faced by public administration in Colombia, we find corruption, illegal bands of drug traffickers, and the lack of trust between critical actors involved in governance. The aim of this chapter is to share an analysis that illustrates the difficulties and contradictions faced by those working in the public sector.

“Colombia is a legal social state organized in the form of a unitary republic, decentralized, with the autonomy of its territorial units, democratic, participatory, and pluralistic, based on respect of human dignity, on the work and solidarity of the individuals who belong to it, and the predominance of the general interest” (National Constitution, 1^st Article).

“Colombia is a legal social state organized in the form of a unitary republic, decentralized, with the autonomy of its territorial units, democratic, participatory, and pluralistic, based on respect of human dignity, on the work and solidarity of the individuals who belong to it, and the predominance of the general interest” (National Constitution, 1^st Article).