• Haptic rendering of compliant motions using contact tracking in C-space 

      Rosell Gratacòs, Jan; Vázquez Cianca, Israel (2004-10)
      Report de recerca
      Accés obert
      This paper presents a new approach for the haptic rendering of compliant motions during the execution of virtual assembly task between simple polyhedral objects. The method, based on the task configuration space, analyzes ...
    • Predicting motion behavior under contact uncertainty 

      Rosell Gratacòs, Jan; Basañez Villaluenga, Luis; Suárez Feijóo, Raúl (2004-10)
      Report de recerca
      Accés obert
      Performing complex assembly task with robots requires fine-motion planners able to cope with uncertainty and contact motions, which is a difficult issue. This report proposes a method to predict the behavior of motions ...