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Ara es mostren els items 25-44 de 48

    • Efficient computation of 3D skeletons by extreme vertex encoding 

      Rodríguez Rojas, Jorge Ernesto; Thomas, Federico; Ayala Vallespí, M. Dolors; Ros Giralt, Lluís (2003)
      Article
      Accés obert
      Many skeletonisation algorithms for discrete volumes have been proposed. Despite its simplicity, the one given here still has many theoretically favorable properties. Actually, it provides a connected surface skeleton that ...

    • Exact interval propagation for the efficient solution of planar linkages 

      Celaya Llover, Enric; Creemers, Tom Lambert; Ros Giralt, Lluís (ASME, 2007)
      Text en actes de congrés
      Accés obert
      This paper presents an interval propagation algorithm for variables in single-loop linkages. Given allowed intervals of values for all variables, the algorithm provides, for every variable, the exact interval of values for ...

    • Exact interval propagation for the efficient solution of position analysis problems on planar linkages 

      Celaya Llover, Enric; Creemers, Tom Lambert; Ros Giralt, Lluís (2012)
      Article
      Accés obert
      This paper presents an interval propagation algorithm for variables in planar single-loop linkages. Given intervals of allowed values for all variables, the algorithm provides, for every variable, the whole set of values, ...

    • 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)
      Text en actes de congrés
      Accés obert
      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 (2008)
      Text en actes de congrés
      Accés obert
      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)
      Text en actes de congrés
      Accés obert
      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
      Accés obert
      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 ...

    • Kinodynamic planning on constraint manifolds 

      Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2017)
      Report de recerca
      Accés obert
      This report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ...

    • Model predictive control for a Mecanum-wheeled robot navigating among obstacles 

      Moreno Caireta, Iñigo; Celaya Llover, Enric; Ros Giralt, Lluís (Elsevier, 2021)
      Text en actes de congrés
      Accés obert
      Mecanum-wheeled robots have been thoroughly used to automate tasks in many different applications. However, they are usually controlled by neglecting their dynamics and relying only on their kinematic model. In this paper, ...

    • Motion planning for 6D manipulation with aerial towed-cable systems 

      Manubens Ferriol, Montserrat; Devaurs, Didier; Ros Giralt, Lluís; Cortés, Juan (2013)
      Text en actes de congrés
      Accés obert
      Performing aerial 6-dimensional manipulation using flying robots is a challenging problem, to which only little work has been devoted. This paper proposes a motion planning approach for the reliable 6-dimensional quasi-static ...

    • 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 ...

    • Navigating the wrench-feasible C-space of cable-driven hexapods 

      Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (Springer, 2012)
      Text en actes de congrés
      Accés obert
      Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack ...

    • Numerical computation of manipulator singularities 

      Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (IEEE, 2012)
      Text en actes de congrés
      Accés obert
      This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each ...

    • On the numerical classification of the singularities of robot manipulators 

      Bohigas Nadal, Oriol; Zlatanov, Dimiter; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2013)
      Text en actes de congrés
      Accés obert
      This paper is concerned with the task to obtain a complete description of the singularity set of any given non-redundant manipulator, including the identification and the precise computation of each constituent singularity ...

    • On the symmetric molecular conjectures 

      Porta Pleite, Josep Maria; Ros Giralt, Lluís; Schulze, Bernd; Sljoka, Adnan; Whiteley, Walter (Springer, 2013)
      Text en actes de congrés
      Accés obert
      A molecular linkage consists of a set of rigid bodies pairwise connected by revolute hinges where all hinge lines of each body are concurrent. It is an important problem in biochemistry, as well as in robotics, to efficiently ...

    • Planning singularity-free force-feasible paths on the Stewart platform 

      Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (Springer, 2012)
      Text en actes de congrés
      Accés obert
      This paper provides a method for computing force-feasible paths on the Stewart platform. Given two configurations of the platform, the method attempts to connect them through a path that, at any point, allows the platform ...

    • Planning singularity-free paths on closed-chain manipulators 

      Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2013)
      Article
      Accés obert
      This paper provides an algorithm for computing singularity-free paths on closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a path that maintains ...

    • Planning wrench-feasible motions for cable-driven hexapods 

      Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2016-04-01)
      Article
      Accés obert
      Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack-to ...

    • Randomized kinodynamic planning for cable-suspended parallel robots 

      Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Springer, 2017)
      Text en actes de congrés
      Accés obert
      This paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and ...

    • Randomized kinodynamic planning for constrained systems 

      Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Text en actes de congrés
      Accés obert
      Kinodynamic RRT planners are considered to be general tools for effectively finding feasible trajectories for high-dimensional dynamical systems. However, they struggle when holonomic constraints are present in the system, ...