Ara es mostren els items 19-38 de 95

    • Automatic generation of behavior trees for the execution of robotic manipulation tasks 

      Verma, Parikshit; Diab, Mohammed; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2021)
      Text en actes de congrés
      Accés obert
      Robots should be able to exercise reasoning in both symbolic and geometric levels in order to plan a manipulation task. The execution of such tasks needs to be robust enough to cope with real environments. In an attempt ...
    • Automating adaptive execution behaviors for robot manipulation 

      Ruiz Celada, Oriol; Verma, Parikshit; Rosell Gratacòs, Jan; Diab, Mohammed (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Article
      Accés obert
      Robotic manipulation in semi-structured and changing environments requires systems with: a) perception and reasoning capabilities able to capture and understand the state of the environment; b) planning and replanning ...
    • 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” ...
    • BE-AWARE: an ontology-based adaptive robotic manipulation framework 

      Ruiz Celada, Oriol; Dalmases, Albert; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2023)
      Comunicació de congrés
      Accés obert
      Autonomous service robots are conceived to work in semi-structured and complex human environments performing a wide range of tasks and, hence, one of their main challenges is to be able to adapt the stages of the ...
    • 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 ...
    • Combined heuristic task and motion planning for bi-manual robots 

      Akbari, Aliakbar; Lagriffoul, Fabien; Rosell Gratacòs, Jan (2019-08-01)
      Article
      Accés obert
      Planning efficiently at task and motion levels allows the setting of new challenges for robotic manipulation problems, like for instance constrained table-top problems for bi-manual robots. In this scope, the appropriate ...
    • Computación frontera: influencia de latencias en la precisión de robots 

      Urbaniak, Dominik; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Suppa, Michael (2023)
      Comunicació de congrés
      Accés obert
      La computación en la frontera (edge computing) permite acceder a grandes recursos computacionales y a redes de computadores, facilitando que pequeños dispositivos con recursos limitados realicen cálculos complejos ...
    • Contingent task and motion planning under uncertainty for human–robot interactions 

      Akbari, Aliakbar; Rosell Gratacòs, Jan; Diab, Mohammed (Multidisciplinary Digital Publishing Institute, 2020-03-01)
      Article
      Accés obert
      Manipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human ...
    • cRRT*: Planning loosely-coupled motions for multiple mobile robots 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Comunicació de congrés
      Accés obert
      The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT planner has been proposed to cope ...
    • Determination of seven frictionless fixturing points searching the object surface with a homogeneous deterministic distribution 

      Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2007-02)
      Report de recerca
      Accés obert
      The paper deals whit the problem of finding a form-closure fixturing of objects modeled whit triangular meshes and considering as quality measure the maximum wrench that the object can resist in any direction. Although a ...
    • Edge computing in autonomous and collaborative assembly lines 

      Urbaniak, Dominik; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Text en actes de congrés
      Accés obert
      Industry 4.0 demands interconnected production lines that consist of modular assets. Recent advances of wireless communication technologies allow a large connectivity of devices and approach the performance of wireline ...
    • Efficient and robust trajectory generation for robotic manipulators 

      Ruiz Celada, Oriol; Palomo Avellaneda, Leopold; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Comunicació de congrés
      Accés obert
      This paper describes a procedure to generate valid robot trajectories for a given sequence of points defining a geometric path, which is a quite frequent output of many robot motion planners. The proposed approach takes ...
    • Efficient Industrial Solution for Robotic Task Sequencing Problem With Mutual Collision Avoidance & Cycle Time Optimization 

      Touzani, Hicham; Seguy, Nicolas; Suárez Feijóo, Raúl; Hadj Abdelkader, Hicham; Rosell Gratacòs, Jan; Palomo Avellaneda, Leopold; Bouchafa, Samia (Institute of Electrical and Electronics Engineers (IEEE), 2022-04)
      Article
      Accés obert
      In the automotive industry, several robots are required to simultaneously carry out welding sequences on the same vehicle. Coordinating and assigning welding points between robots is a manual and difficult phase that needs ...
    • 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)
      Report de recerca
      Accés obert
      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)
      Text en actes de congrés
      Accés obert
      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 ...
    • Exploration of the grasp space using independent contact and non-graspable regions 

      Roa Garzón, Máximo; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2008-04)
      Report de recerca
      Accés obert
      This report presents the use of independent contact and non-graspable regions to generate the grasp space for 2D and 3D discrete objects. The grasp space is constructed via a sampling method, which provides samples of ...
    • FailRecOnt - An ontology-based framework for failure interpretation and recovery in planning and execution 

      Diab, Mohammed; Pomarlan, Mihai; Borgo, Stefano; Bebler, Daniel; Rosell Gratacòs, Jan; Bateman, John; Beetz, Michael (2021)
      Text en actes de congrés
      Accés obert
      Autonomous mobile robot manipulators have the potential to act as robot helpers at home to improve quality of life for various user populations, such as elderly or handicapped people, or to act as robot co-workers on factory ...
    • Finding grasping configurations of a dexterous hand and an industrial robot 

      Rosell Gratacòs, Jan; Sierra, Xavier; Palomo Avellaneda, Leopold; Suárez Feijóo, Raúl (2004-10)
      Report de recerca
      Accés obert
      Given an industrial robot equipped with a dexterous hand and an object to be grasped with four grasping points determined on its faces, this paper deals with the problem of finding the joint configurations that allow to ...
    • Fine-motion planning for robotic assembly under modelling and sensing uncertainties 

      Rosell Gratacòs, Jan (Universitat Politècnica de Catalunya, 1998-10-13)
      Tesi
      Accés obert
      This thesis proposes a fine-motion planner for assembly tasks in the plane considering two degrees of freedom of translation and one of rotation, taking into account modelling and sensing uncertainties and the effect of ...
    • First-order synergies for motion planning of anthropomorphic dual-arm robots 

      García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2017-07-01)
      Article
      Accés obert
      This paper addresses the problem of designing a planning algorithm for anthropomorphic dual-arm robotic systems to find paths that mimics the movements of real human beings by using first-order synergies (correlations ...