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

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    • 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
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      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
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      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)
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      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 ...

    • Knowledge-oriented task and motion planning for multiple mobile robots 

      Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (2019-01-04)
      Article
      Accés obert
      Robotic systems composed of several mobile robots moving in human environments pose several problems at perception, planning and control levels. In these environments, there may be obstacles obstructing the paths, which ...

    • Learning Action-oriented grasping for manipulation 

      Ud Din, Muhayy; Sarwar, M Usman; Zahoor, Imran; Qazi, Wajahat Mahmood; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2019)
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      Complex manipulation tasks require grasping strategies that simultaneously satisfy the stability and the semantic constraints that have to be satisfied for an action to be feasible, referred as action-oriented semantic ...

    • Mobile manipulation hackathon: moving into real world applications 

      Roa Garzón, Máximo Alejandro; Rosell Gratacòs, Jan; Foix Salmerón, Sergi; Pagès, Jordi; Dogar, Mehmet R.; Vivas, Carlos; Morales Escrig, Antonio; Correll, Nikolaus; Gorner, Michael; Memmesheier, Raphael; Ferro, Francesco (2021)
      Article
      Accés obert
      The Mobile Manipulation Hackathon was held in late 2018 during the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) to showcase the latest applications of wheeled robotic manipulators. The challenge ...

    • Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration 

      Rosell Gratacòs, Jan; Nuño, Emmanuel; Claret, Josep A.; Zaplana Agut, Isiah; García Hidalgo, Néstor; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; Pérez Ruiz, Alexander; Mas Casals, Orestes Miquel; Basañez Villaluenga, Luis (Comité Español de Automática (CEA-IFAC), 2017)
      Comunicació de congrés
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      In work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e. the mobile manipulators ...

    • Modeling human-likeness in approaching motions of dual-arm autonomous robots 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Text en actes de congrés
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      This paper addresses the problem of obtaining human-like motions with an anthropomorphic dual-arm torso assembled on a mobile platform. The focus is set on the coordinated movements of the robotic arms and the robot base ...

    • Motion planning by demonstration with human-likeness evaluation for dual-arm robots 

      García, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2017-10-30)
      Article
      Accés obert
      The paper presents a planning procedure that allows an anthropomorphic dual-arm robotic system to perform a manipulation task in a natural human-like way by using demonstrated human movements. The key idea of the proposal ...

    • Motion planning for high DOF anthropomorphic hands 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; García, Jorge Alberto; Pérez Ruiz, Alexander (IEEE, 2009-05-31)
      Text en actes de congrés
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      The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search ...

    • Motion planning for the virtual bronchoscopy 

      Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Cabras, Paolo; Rosell, Antoni (IEEE, 2012)
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      Bronchoscopy is an interventional medical procedure employed to analyze the interior side of the human airways, clear possible obstructions and biopsy. Using a 3D reconstruction of the tracheobronchial tree, Virtual ...

    • Motion planning using first-order synergies 

      García Hidalgo, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
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      This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees of freedom, extending it to the velocity space and calling them first-order synergies. An automatic ...

    • Ontological physics-based motion planning for manipulation 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Text en actes de congrés
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      Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which ...

    • Path planning for grasping operations using an adaptive PCA-based sampling method 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Pérez Ruiz, Alexander (2013-07-01)
      Article
      Accés obert
      The planning of collision-free paths for a handarm robotic system is a difficult issue due to the large number of degrees of freedom involved and the cluttered environment usually encountered near grasping configurations. ...

    • Path planning using harmonic functions and probabilistic cell decomposition 

      Rosell Gratacòs, Jan; Iñíguez Galbete, Pedro (2004-10)
      Report de recerca
      Accés obert
      Potential-field approach based on harmonic functions have good path planning properties, although the explicit knowledge of the robot’s Configuration Space is required. To overcome this drawback, a combination with a random ...

    • Physics-based Motion Planning with Temporal Logic Specifications 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (2017-07-01)
      Comunicació de congrés
      Accés obert
      One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find ...