• A novel path planning proposal based on the combination of deterministic sampling and harmonic functions 

    Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander; Iñíguez Galbete, Pedro (2007-03)
    Report de recerca
    Accés obert
    The sampling-based approach is currently the most successful and yet more promising approach to path planning problems. Sampling-based methods are demonstrated to be probabilistic complete, being their performance reliant ...
  • Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; Pérez, Alexander (2011-07)
    Article
    Accés obert
    The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” ...
  • C-space decomposition using deterministic sampling and distances 

    Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander (Institute of Electrical and Electronics Engineers, 2007-11)
    Text en actes de congrés
    Accés obert
    Hierarchical cell decompositions of Configuration Space can be of great value for enhancing sampling-based path planners, as well as for other robotic tasks with requirements beyond the planning of free paths. This paper ...
  • Importance Sampling based on Adaptive Principal Component Analysis 

    Rosell Gratacòs, Jan; Cruz Llopis, Luis Javier de la; Pérez, Alexander; Suárez Feijóo, Raúl (IEEE, 2011)
    Text en actes de congrés
    Accés obert
    Sampling-based approaches are currently the most efficient ones to solve path planning problems, being their performance dependant on the ability to generate samples in those areas of the configuration space relevant to ...
  • Including virtual constraints in motion planning for anthropomorphic hands 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Pérez, Alexander; Rosales Gallegos, Carlos (2011)
    Text en actes de congrés
    Accés obert
    This paper copes with the problem of finding a collision-free path for a hand-arm robotic system from an initial unconstrained configuration to a final grasping (or preshape) one. The aim is to obtain a natural motion as ...
  • Programming assignments to learn how to build a Probabilistic Roadmap Planner 

    Rosell Gratacòs, Jan; Pérez, Alexander (2008-09)
    Report de recerca
    Accés obert
    Research in robot motion planning requires the availability of a simulation environment where to test and validate the theoretic contributions. Nevertheless, PhD programs and graduate studies that include robot motion ...
  • Sampling C-obstacles border using a filtered deterministic sequence 

    Rosell Gratacòs, Jan; Pérez, Alexander (2008-09)
    Report de recerca
    Accés obert
    This paper is focused on the sampling process for path planners based on probabilistic roadmaps. The paper first analyzes three sampling sources: the random sequence and two deterministic sequences, Halton and sd(k), and ...
  • SDK: A proposal of a general and efficient deterministic sampling sequence 

    Rosell Gratacòs, Jan; Roa Garzón, Máximo; Pérez, Alexander; García, Fernando (2007-03)
    Report de recerca
    Accés obert
    Previous works have already demonstrated that deterministic sampling can be competitive with respect to probabilistic sampling in sampling-based path planners. Nevertheless, the definition of a general sampling sequence ...