Exploració per autor "Rosell Gratacòs, Jan"Més informacióMés informació

Ara es mostren els items 35-54 de 96

    • 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 ...

    • Flexibly configuring task and motion planning problems for mobile manipulators* 

      Rosell Gratacòs, Jan; Saoji, Siddhant (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Comunicació de congrés
      Accés obert
      Robotic 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 

      Basañez Villaluenga, Luis; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2005-09)
      Article
      Accés obert

    • Haptic aids for bilateral teleoperators 

      Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (Springer, 2013)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Teleoperation 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 

      Vázquez Hurtado, Carlos; Rosell Gratacòs, Jan (International Federation of Automatic Control, 2007-05)
      Text en actes de congrés
      Accés obert
      Haptic 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 

      Vázquez Hurtado, Carlos; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2012)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      Haptic 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 

      Vázquez Hurtado, Carlos; Rosell Gratacòs, Jan; Chirinos, Luis; Domínguez, Omar (IEEE, 2010)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      Path 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 

      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 ...

    • HG-RRT*: Human-Guided Optimal Random Trees for Motion Planning 

      García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      The 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 

      Colasanto, Luca; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2013-03)
      Article
      Accés obert
      Teleoperating 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 

      Rosell Gratacòs, Jan; Cruz Llopis, Luis Javier de la; Pérez, Alexander; Suárez Feijóo, Raúl (IEEE, 2011)
      Text en actes de congrés
      Accés obert
      Sampling-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 ...

    • Including virtual constraints in motion planning for anthropomorphic hands 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Pérez, Alexander; Rosales Gallegos, Carlos (2011)
      Text en actes de congrés
      Accés obert
      This paper copes with the problem of finding a collision-free path for a hand-arm robotic system from an initial unconstrained configuration to a final grasping (or preshape) one. The aim is to obtain a natural motion as ...

    • Integrated grasp and motion planning using independent contact regions 

      Fontanals, Joan; Dang-Vu, Bao-Anh; Roa, Máximo Alejandro; Rosell Gratacòs, Jan; Porges, Oliver (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Comunicació de congrés
      Accés obert
      Traditionally, grasp and arm motion planning are considered as separate tasks. This paper presents an integrated approach that only requires the initial configuration of the robotic arm and the pose of the target object ...

    • Integrated task and motion planning using physics-based heuristics 

      Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (2016)
      Comunicació de congrés
      Accés obert
      —This work presents a knowledge-based task and motion planning framework based on a version of the FastForward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about ...

    • k-PMP: enhancing physics-based motion planners with knowledge-based reasoning 

      Ud Din, Muhayy; Rosell Gratacòs, Jan; Akbari, Aliakbar (2017-09-22)
      Article
      Accés obert
      Physics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners ...

    • “Knowing from” – An outlook on ontology enabled knowledge transfer for robotic systems 

      Diab, Mohammed; Pomerlan, Mihai; Bebler, Daniel; Rosell Gratacòs, Jan (2020)
      Text en actes de congrés
      Accés obert
      Encoding practical knowledge about everyday activities has proven difficult, and is a limiting factor in the progress of autonomous robotics. Learning approaches, e.g. imitation learning from human data, have been used as ...

    • Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Grasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of ...