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 ...

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 ...

Motion planning has evolved from coping with simply geometric problems to physics-based ones that incorporate the kinodynamic and the physical constraints imposed by the robot and the physical world. Therefore, the criteria ...

This paper addresses the problem of obtaining the required motions for a humanoid robot to perform grasp actions trying to mimic the coordinated hand–arm movements humans do. The first step is the data acquisition and ...

Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial ...

Research in robot motion planning requires the availability of a simulation environment where to test and validate the theoretic contributions. Nevertheless, PhD programs and graduate studies that include robot motion ...

The execution of robotic manipulation tasks needs to be robust in front of failures or changes in the environment, and for this purpose, Behavior Trees (BT) are a good alternative to Finite State Machines, because the ...

Una de las aplicaciones más conocidas del álgebra geométrica en la ingenierìa consiste en proporcionar una formulación compacta de la cinemática de los robots manipuladores serie. Sin embargo, el uso de álgebra geométrica ...

Sampling-based path planners are giving very good results for problems with high degrees of freedom, being the obtention of samples a crucial factor in their performance. Sampling generation is a difficult issue that ...