Antonio Serrano Muñoz obtained an EXCELLENT CUM LAUDE grade


Antonio Serrano Muñoz obtained an EXCELLENT CUM LAUDE grade


Antonio Serrano Muñoz obtained an EXCELLENT CUM LAUDE grade



  • Thesis title: Reinforcement learning for collaborative robotic contact-rich disassembly tasks.


  • Presidency: Duc Pham (The University of Birmingham)
  • Vocal: Minna Lanz (Tampere University)
  • Vocal: Juan Ignacio Vázquez Gómez (Universidad de Deusto)
  • Vocal: Maider Zamalloa Aquizu (Ikerlan)
  • Secretary: Joseba Andoni Agirre Basetegieta (Mondragon Unibertsitatea)


With the exponential growth of the world population and the resulting increase in consumption rates, the efficient treatment of end-of-life (EOL) products has become critical to mitigating environmental impacts. Remanufacturing offers an environmentally and economically beneficial approach to counteracting these impacts. While automation has been successful in assembly and manufacturing, manual labor is preferred in remanufacturing, especially disassembly, to cope with operational uncertainties. Reinforcement Learning (RL) is presented as an alternative for decision making and control in changing systems, but the extent to which disassembly tasks can be automatically learned and generalized is unknown. This Applied Engineering Ph.D. dissertation explores the application of RL techniques for collaborative robot control to generalize disassembly tasks with uncertainties due to the variability of the geometric and physical properties of the manipulated objects. With this, a modular RL library that enables simultaneous training of agents in massively parallel environments is presented to reduce training time while consuming the same amount of resources and increasing the perceived reward. In addition, a control framework for KUKA LBR iiwa cobots that outperforms existing solutions and allows the use of different types of force overlays to reduce contact forces caused by friction and the probability of jamming states when performing disassembly tasks is presented. Furthermore, a collection of ready-to-use packages for rapid prototyping and reducing the development and deployment time of collaborative robotic systems for assembly and disassembly is proposed.