Ara es mostren els items 1-14 de 14

    • A Grasping-centered analysis for cloth manipulation 

      Borràs Sol, Júlia; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020-06-01)
      Article
      Accés obert
      Compliant and soft hands have gained a lot of atten- tion in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping ...
    • A one-motor full-mobility 6-PUS manipulator 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (Springer, 2010)
      Text en actes de congrés
      Accés obert
      This paper presents the feasibility study of an under-actuated parallel manipulator with 6-PUS topology, destined to handle work-tables in CNC machine tools. The proposed device exploits the fact that, in such an application, ...
    • A representation of cloth states based on a derivative of the Gauss linking integral 

      Coltraro, Franco; Fontana, Josep; Amorós Torrent, Jaume; Alberich Carramiñana, Maria; Borràs Sol, Júlia; Torras, Carme (Elsevier, 2023-11-15)
      Article
      Accés obert
      Robotic manipulation of cloth is a complex task because of the infinite-dimensional shape-state space of textiles, which makes their state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, ...
    • A unified method for computing position and orientation workspaces of general Stewart platforms 

      Bohigas Nadal, Oriol; Ros, LLuís; Manubens Ferriol, Montserrat (2011)
      Text en actes de congrés
      Accés obert
      The workspace of a Stewart platform is a complex six- dimensional volume embedded in the Cartesian space defined b y six pose parameters. Because of its large dimension and com- plex shape, such workspace is difficult ...
    • A wrench-sensitive touch pad based on a parallel structure 

      Frigola Alcalde, Roger; Ros Giralt, Lluís; Roure Fernández, Francisco; Thomas, Federico (IEEE, 2008)
      Text en actes de congrés
      Accés obert
      Many different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most ...
    • Active perception of deformable objects using 3D cameras 

      Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Ramisa Ayats, Arnau; Torras, Carme (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
      Text en actes de congrés
      Accés obert
      Perception and manipulation of rigid objects has received a lot of attention, and several solutions have been proposed. In contrast, dealing with deformable objects is a relatively new and challenging task because they ...
    • Differential flatness of a class of n-DOF planar manipulators driven by 1 or 2 actuators 

      Franch Bullich, Jaume; Agrawal, Sunil K.; Sangwan, Vivek (2010-02)
      Article
      Accés obert
      A fully actuated system can execute any joint trajectory. However, if a system is under-actuated, not all joint trajectories are attainable. The authors have actively pursued novel designs of under-actuated robotic arms ...
    • Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (ASME PRESS, 2010)
      Article
      Accés obert
      This paper shows how to generate under-actuated manipulators by substituting nonholonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in ordinary (i.e. not under-actuated) manipulators. As a case ...
    • Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (2009)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      It will be shown how to generate under-actuated manipulators by substituting non-holonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in fully-parallel manipulators (FPMs). Through this pair ...
    • Learning inverse kinematics: Reduced sampling through decomposition into virtual robots 

      Ruiz de Angulo García, Vicente; Torras, Carme (IEEE, 2008)
      Article
      Accés obert
      We propose a technique to speed up the learning of the inverse kinematics of a robot manipulator by decomposing it into two or more virtual robot arms. Unlike previous decomposition approaches, this one does not place any ...
    • Manipulation monitoring and robot intervention in complex manipulation sequences 

      Savarimuthu, Thiusius Rajeeth; Buch, Anders G.; Yang, Yang; Mustafar, Wail; Haller, Simon; Papon, Jeremie; Martínez Martínez, David; Eren Erdal, Aksoy (2014)
      Text en actes de congrés
      Accés obert
      Compared to machines, humans are intelligent and dexterous; they are indispensable for many complex tasks in areas such as flexible manufacturing or scientific experimentation. However, they are also subject to fatigue and ...
    • Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; López, Javier; Thomas, Federico (2010)
      Text en actes de congrés
      Accés obert
      This paper introduces a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by serial chains having RRPS (Revolute-Revolute-Prismatic-Spherical) topology. Only the prismatic ...
    • Multi-body singularity equations 

      Bohigas Nadal, Oriol; Ros Giralt, Lluís (2010)
      Report de recerca
      Accés obert
      This technical report explains how to obtain a system of equations that encodes the singularities of a multi-body system with respect to some of its configuration variables. The system is obtained in a way that makes it ...
    • Redundant inverse kinematics: experimental comparative review and two enhancements 

      Colomé Figueras, Adrià; Torras, Carme (2012)
      Text en actes de congrés
      Accés obert
      Motivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used closed-loop methods for redundant robots, analysing their main points of concern: convergence, ...