Joint Us!

The Robotics, Automation & Mechatronics Engineering Laboratory (RAMEL) at Escuela Superior Politécnica del Litoral (ESPOL) is a facility for graduate and undergraduate robotics research and education with an emphasis on studying novel mechatronics design. Our research interests are in the area of Robot and Manipulator design, Unmanned Systems, soft robotics, machine learning, and planning and controlling robots.

Robots Design

Bipedal, Quadruped, or any Social and Educational Robots

Soft Robotics

Robotic Manipulators

Manipulator designs, Tactile Sensors, Robot Hand, and Soft Manipulators

Unmanned Systems

Drones (UAV), Cars (UGV)

Autonomous Navigation

Robot Vision

Artificial Intelligence

Machine and Reinforcement Learning



BOX and Package


Medical Robot

Social Robot

Cable and Connector



Robot Design

OobSoft Gripper


Cable Manipulator

Using a Vibration Plate


Francisco Yumbla

FRANCISCO YUMBLA (Member, IEEE) received his degree in Electrical Engineering with a specialty in Electronics and Industrial Automation from the Escuela Politécnica del Litoral (ESPOL), Guayaquil, Ecuador, in 2014. He obtained his Ph.D. in Mechanical Engineering in the area of ROBOTICS at Sungkyunkwan University (SKKU), South Korea, in 2021. He was a Postdoctoral researcher at the Robotics Engineering Research Center at Sungkyunkwan University. In 2022, he joined the Faculty of Mechanical Engineering and Production Sciences, ESPOL, as a Research Professor. His research interests are autonomous vehicles, manipulation of robotic arms, design of robots and manipulators, as well as Artificial Intelligence.


César Aulestia

Quadruped Design

César Quintuña


Náger Naranjo

Manipulator Design

Iesus Dávila

Robots Design

Carlos González

Manipulator Design

Daniela Cueva

Soft Robotic

Ramses García

Soft Robotic

Luis Arroba


Favia Elizalde


Andrew Tomalá

Soft Robotics

Martín Mendoza

Robots Design

Robinson Jacome

Robots Design

Camila Reyes

Robots Programmer

Julio Dender

Quadruped Design

Edison Egas

Robots Design

Sergio Balcázar

Robots Design

Melissa Barberán

Research Assistants

Newton Toledo

Robots Programmer


International Journals SCI(E):

  • J. Jeon, H. ryul Jung, T. Luong, F. Yumbla, and H. Moon, “Combined task and motion planning system for the service robot using hierarchical action decomposition,” Intelligent Service Robot, vol. 15, no. 4, pp. 487–501, Sep. 2022, doi: 10.1007/S11370-022-00437-3/TABLES/1.
  • J. Jeon, H. R. Jung, F. Yumbla, T. A. Luong, and H. Moon, “Primitive Action Based Combined Task and Motion Planning for the Service Robot,” Front Robot AI, vol. 9, p. 15, Feb. 2022, doi: 10.3389/FROBT.2022.713470/BIBTEX.
  • J. S. Yi, F. Yumbla et al., “An Online Task-Planning Framework Using Mixed Integer Programming for Multiple Cooking Tasks Using a Dual-Arm Robot,” Applied Sciences 2022, Vol. 12, Page 4018, vol. 12, no. 8, p. 4018, Apr. 2022, doi: 10.3390/APP12084018.
  • H. Jung, J. Jeon, F. Yumbla, and H. Moon, “Efficient Base Repositioning for Mobile Manipulation based on Inverse Reachability,” Journal of Korea Robotics Society, vol. 16, no. 4, pp. 313–318, Dec. 2021, doi: 10.7746/JKROS.2021.16.4.313.
  • T. Luong, F. Yumbla et al., “Realization of a Simultaneous Position-Stiffness Controllable Antagonistic Joint Driven by Twisted-Coiled Polymer Actuators Using Model Predictive Control,” IEEE Access, vol. 9, pp. 26071–26082, 2021, doi: 10.1109/ACCESS.2021.3055034.
  • M. A. Tadese, F. Yumbla, J. S. Yi, W. Lee, J. Park, and H. Moon, “Passivity Guaranteed Dynamic Friction Model with Temperature and Load Correction: Modeling and Compensation for Collaborative Industrial Robot,” IEEE Access, vol. 9, pp. 71210–71221, 2021, doi: 10.1109/ACCESS.2021.3076308.
  • F. Yumbla, M. Abayebas, J.-S. Yi, J. Jeon, and H. Moon, “Reposition and Alignment of Cable Connectors Using a Vibration Plate Manipulator for Wire Harness Assembly Tasks,” International Journal of Precision Engineering and Manufacturing, pp. 1–9, Mar. 2021, doi: 10.1007/s12541-021-00490-5.
  • J.-S. Yi, F. Yumbla, E. Auh, M. Abayebas, T. A. Luong, and H. Moon, “Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task,” J Mech Robot, pp. 1–20, Oct. 2020, doi: 10.1115/1.4048915.
  • S. Woo, F. Yumbla, C. Park, H. R. Choi, and H. Moon, “Plane-based stairway mapping for legged robot locomotion,” Industrial Robot, vol. 47, no. 4, pp. 569–580, Apr. 2020, doi: 10.1108/IR-09-2019-0189.
  • F. Yumbla, J. S. Yi, M. Abayebas, M. Shafiyev, and H. Moon, “Tolerance dataset: mating process of plug-in cable connectors for wire harness assembly tasks,” Intelligent Service Robot, vol. 13, no. 1, pp. 159–168, Dec. 2019, doi: 10.1007/s11370-019-00307-5.
  • International Conference Proceedings:

  • M. A. Tadese, F. Yumbla, N. Pico, and H. Moon, “Application of A Reliable Dynamic Friction Model for Accurate Dynamic Model Parameters Estimation of Robot Manipulators,” International Conference on Control, Automation and Systems, vol. 2022-November, pp. 1916–1923, 2022, doi: 10.23919/ICCAS55662.2022.10003756.
  • F. Yumbla et al., “Design of a Conveyor Belt Manipulator for Reposition of Boxes in Logistics Centers,” IEEE International Conference on Automation Science and Engineering, vol. 2022-August, pp. 2225–2230, 2022, doi: 10.1109/CASE49997.2022.9926479.
  • F. Yumbla, W. Yumbla, E. Q. Yumbla, and H. Moon, “OobSoft Gripper: A Reconfigurable Soft Gripper Using Oobleck for Versatile and Delicate Grasping,” 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022, pp. 512–517, 2022, doi: 10.1109/ROBOSOFT54090.2022.9762097.
  • J. Medrano, F. Yumbla et al., “Box segmentation, position and size estimation for robotic box handling applications,” 2022 19th International Conference on Ubiquitous Robots, UR 2022, pp. 194–199, 2022, doi: 10.1109/UR55393.2022.9826264.
  • F. Yumbla, S. Woo, E. Q. Yumbla, T. Luong, and H. Moon, “Motions Analysis for Stair Climbing by Two or Three Steps and cross over an obstacle for a Quadruped Robot,” in 2020 20th International Conference on Control, Automation and Systems (ICCAS), Oct. 2020, pp. 262–267. doi: 10.23919/ICCAS50221.2020.9268325.
  • F. Yumbla, M. Abeyabas, T. Luong, J.-S. Yi, and H. Moon, “Preliminary Connector Recognition System Based on Image Processing for Wire Harness Assembly Tasks,” in 2020 20th International Conference on Control, Automation and Systems (ICCAS), Oct. 2020, pp. 1146–1150. doi: 10.23919/ICCAS50221.2020.9268291.
  • J. Medrano, F. Yumbla et al., “Jerk estimation for quadrotor based on differential flatness,” in 2020 17th International Conference on Ubiquitous Robots (UR), Jun. 2020, pp. 99–104. doi: 10.1109/UR49135.2020.9144980.
  • F. Yumbla, E. Q. Yumbla, and H. Moon, “The Bioloid GP Robot with Different Configurations for Simulation in V-REP Controlled by the Robot Operating System (ROS),” in 2020 6th International Conference on Control, Automation and Robotics (ICCAR), Apr. 2020, pp. 54–58. doi: 10.1109/ICCAR49639.2020.9107987. Best Presentation Award.
  • F. Yumbla, J. S. Yi, M. Abayebas, and H. Moon, “Analysis of the mating process of plug-in cable connectors for the cable harness assembly task,” in International Conference on Control, Automation and Systems, Oct. 2019, vol. 2019-Octob, pp. 1074–1079. doi: 10.23919/ICCAS47443.2019.8971644.
  • Contact Us

    Recruiting for students researcher is open for researchers who want to work in our research areas. Don't hesitate to get in touch with Prof. Francisco Yumbla for inquiries by e-mail or at his office (RAMEL).




    Facultad de Ingeniería Mecánica y Ciencias de la Producción.

    Campus "Gustavo Galindo" Km. 30.5 Vía Perimetral