Exploració per autor "Rosell Gratacòs, Jan"
Ara es mostren els items 29-48 de 95
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Edge computing in autonomous and collaborative assembly lines
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Text en actes de congrés
Accés obertIndustry 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
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Comunicació de congrés
Accés obertThis 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
(Institute of Electrical and Electronics Engineers (IEEE), 2022-04)
Article
Accés obertIn 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
(2008-10)
Report de recerca
Accés obertThe 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
(IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
Text en actes de congrés
Accés obertThe 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
(2008-04)
Report de recerca
Accés obertThis 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
(2021)
Text en actes de congrés
Accés obertAutonomous 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
(2004-10)
Report de recerca
Accés obertGiven 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
(Universitat Politècnica de Catalunya, 1998-10-13)
Tesi
Accés obertThis 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
(2017-07-01)
Article
Accés obertThis 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 ... -
Flexibly configuring task and motion planning problems for mobile manipulators*
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Comunicació de congrés
Accés obertRobotic manipulation requires the planning at a symbolic level (task planning) and at a geometric level (motion planning). This paper presents a planning framework for both levels of planning that includes an easy way to ... -
From Graphical Task Specification to Automatic Programming of Robotic Polishhing Systems
(Institute of Electrical and Electronics Engineers (IEEE), 2005-09)
Article
Accés obert -
Haptic aids for bilateral teleoperators
(Springer, 2013)
Text en actes de congrés
Accés restringit per política de l'editorialTeleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between ... -
Haptic guidance based on harmonic functions for the execution of teleoperated assembly tasks
(International Federation of Automatic Control, 2007-05)
Text en actes de congrés
Accés obertHaptic devices allow the user to feel the reaction forces and torques that arise when the virtual object attached to the user-manipulated probe touches the other objects in the virtual environment. Additionally, the user ... -
Haptic guidance using primitives for the execution of virtual robotic tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2012)
Comunicació de congrés
Accés restringit per política de l'editorialHaptic guidance is a powerful tool for people rehabilitation, for handcraft skills acquisition and all kind of enactive tasks. In this paper, different techniques to achieve reliable haptic feedback on the execution of ... -
Haptic Primitives Guidance Based on the Kautham Path Planner
(IEEE, 2010)
Comunicació de congrés
Accés restringit per política de l'editorialPath planning methods are well suited to automatically perform robotic tasks; haptic guidance is a powerful tool for disabled people rehabilitation, sports training, handcraft skills acquiring and such kind of enactive ... -
Haptic rendering of compliant motions using contact tracking in C-space
(2004-10)
Report de recerca
Accés obertThis 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 ... -
HG-RRT*: Human-Guided Optimal Random Trees for Motion Planning
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Comunicació de congrés
Accés restringit per política de l'editorialThe paper deals with the problem of designing an RRT*-based planning algorithm that allows the user to guide the tree growth in a simple and transparent way. The key idea of the proposal is to create a planning algorithm, ... -
Hybrid mapping for the assistance of teleoperated grasping tasks
(2013-03)
Article
Accés obertTeleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a ... -
Importance Sampling based on Adaptive Principal Component Analysis
(IEEE, 2011)
Text en actes de congrés
Accés obertSampling-based approaches are currently the most efficient ones to solve path planning problems, being their performance dependant on the ability to generate samples in those areas of the configuration space relevant to ...
