Now showing items 1-14 of 14

  • An open-source toolbox for motion analysis of closed-chain mechanisms 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (Springer, 2013)
    Conference report
    Open Access
    Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), ...
  • 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
    Open Access
    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” ...
  • Efficient motion planning for high DOF hands using principal motion directions 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; García, J.A.; Pérez Ruiz, Alexander (2008-10)
    External research report
    Open Access
    The paper deals with the problem of motion planning of anthropomorphical mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand workspace, but reducing the dimension of the search ...
  • Efficient search of obstacle-free paths for anthropomorphic hands 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Rosales Gallegos, Carlos (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
    Conference report
    Open Access
    The planning of collision-free motions of a handarm system to reach a grasp or preshape configuration is not a simple issue due to the high number of involved degrees of freedom. This paper presents an efficient sampling-based ...
  • Finding all valid hand configurations for a given precision grasp 

    Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl; Ros Giralt, Lluís (2008)
    Conference report
    Open Access
    Planning a precision grasp for a robot hand is usually decomposed into two main steps. First, a set of contact points over the object surface must be determined, ensuring they allow a stable grasp. Second, the inverse ...
  • Finding all valid hand configurations for a given precision grasp 

    Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl; Ros Giralt, Lluís (IEEE, 2008)
    Conference report
    Open Access
    Planning a precision grasp for a robot hand is usually decomposed into two main steps. First, a set of contact points over the object surface must be determined, ensuring they allow a stable grasp. Second, the inverse ...
  • Global optimization of robotic grasps 

    Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Ros Giralt, Lluís (The MIT Press. Massachusetts Institute of Technology, 2011)
    Conference report
    Open Access
    This paper presents a procedure to optimize the quality of robotic grasps for objects that need to be held and manipulated in a specific way, characterized by a number of tight contact constraints. The main difficulties ...
  • Grasp optimization under specific contact constraints 

    Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2013)
    Article
    Open Access
    This paper presents a procedure to synthesize highquality grasps for objects that need to be held and manipulated in a specific way, characterized by a pre-specified set of contact constraints to be satisfied. Due to the ...
  • Grasp plannind under task-specific contact constraints 

    Rosales Gallegos, Carlos (Universitat Politècnica de Catalunya, 2013-01-10)
    Doctoral thesis
  • Including virtual constraints in motion planning for anthropomorphic hands 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Pérez, Alexander; Rosales Gallegos, Carlos (2011)
    Conference report
    Open Access
    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 ...
  • Motion planning for high DOF anthropomorphic hands 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; García, Jorge Alberto; Pérez Ruiz, Alexander (IEEE, 2009-05-31)
    Conference report
    Open Access
    The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search ...
  • On the synthesis of feasible and prehensile robotic grasps 

    Rosales Gallegos, Carlos; Suárez Feijóo, Raúl; Gabiccini, Marco; Bicchi, Antonio (IEEE, 2012)
    Conference report
    Open Access
    This work proposes a solution to the grasp synthesis problem, which consist of finding the best hand configuration to grasp a given object for a specific manipulation task while satisfying all the necessary constraints. ...
  • Study of coordinated motions of the human hand for robotic applications 

    Sun, Shao-Chun; Rosales Gallegos, Carlos; Suárez Feijóo, Raúl (2010)
    Conference report
    Open Access
    This paper presents an acquisition method that comprehensively looks for the mimic configurations of the human hand. The data obtained through this process is further analyzed, transformed, and then used to synthesize a ...
  • Synthesizing grasp configurations with specified contact regions 

    Rosales Gallegos, Carlos; Ros Giralt, Lluís; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl (2011)
    Article
    Open Access
    This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object ...