Accessible and Pedagogically-Grounded Explainability for Human-Robot Interaction: A Framework Based on UDL and Symbolic Interfaces. - Francisco J. Rodríguez-Lera; Raquel Fernández Hernández; Sonia Lopez González; Miguel Ángel González Santamarta; Francisco Jesús Rodríguez-Sedano; Camino Fernández Llamas (CoRR, 2025)