Exploració per autor "Rosell Gratacòs, Jan"
Ara es mostren els items 75-94 de 96
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Randomized physics-based motion planning for grasping in cluttered and uncertain environments
(Institute of Electrical and Electronics Engineers (IEEE), 2018-04-01)
Article
Accés obertPlanning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully ... -
Reasoning and state monitoring for the robust execution of robotic manipulation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Comunicació de congrés
Accés obertThe 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 ... -
Reasoning-based evaluation of manipulation actions for efficient task planning
(Springer, 2015)
Comunicació de congrés
Accés restringit per política de l'editorialTo cope with the growing complexity of manipulation tasks, the way to combine and access information from high- and low-planning levels has recently emerged as an interesting challenge in robotics. To tackle this, the ... -
Resolución geométrica de la cinemática inversa de un robot sin muñeca esférica
(Universidade da Coruña. Servizo de Publicacións, 2023)
Comunicació de congrés
Accés obertUna 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 ... -
Robot Operating System (ROS)
(2022-03-03)
Article
Accés restringit per política de l'editorialLa irrupción de sistemas robóticos en la industria está generando una creciente demanda de necesidades de comunicación entre los múltiples procesos involucrados. Las ‘fábricas inteligentes’ son ya un hecho tras la eclosión ... -
Robots autónomos diestros como co-trabajadores con operarios humanos
(2017-06-30)
Article
Accés obert -
Sampling C-obstacles border using a filtered deterministic sequence
(2008-09)
Report de recerca
Accés obertThis paper is focused on the sampling process for path planners based on probabilistic roadmaps. The paper first analyzes three sampling sources: the random sequence and two deterministic sequences, Halton and sd(k), and ... -
Sampling SE(3) wiht a deterministic sequence for 3D rigid-body planning
(2004-10)
Report de recerca
Accés obertSampling-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 ... -
SDK: A proposal of a general and efficient deterministic sampling sequence
(2007-03)
Report de recerca
Accés obertPrevious works have already demonstrated that deterministic sampling can be competitive with respect to probabilistic sampling in sampling-based path planners. Nevertheless, the definition of a general sampling sequence ... -
Searching form-closure fixturing points on objects described by triangular meshes
(Institute of Electrical and Electronics Engineers, 2007-07)
Text en actes de congrés
Accés obertThe paper deals with the problem of finding a form-closure fixturing of objects modeled with triangular meshes and considering as quality measure the maximum wrench that the object can resist in any direction. Although a ... -
SkillMaN — A skill-based robotic manipulation framework based on perception and reasoning
(2020-12)
Article
Accés restringit per política de l'editorialOne of the problems that service robotics deals with is to bring mobile manipulators to work in semi-structured human scenarios, which requires an efficient and flexible way to execute every-day tasks, like serve a cup in ... -
Smart perception for situation awareness in robotic manipulation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Article
Accés obertRobotic manipulation in semi-structured environments require perception, planning and execution capabilities to be robust to deviations and adaptive to changes, and knowledge representation and reasoning may play a role ... -
Task and motion planning using physics-based reasoning
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Text en actes de congrés
Accés restringit per política de l'editorialFor everyday manipulation tasks, the combination of task and motion planning is required regarding the need of providing the set of possible subtasks which have to be done and how to perform them. Since many alternative ... -
Task planning using physics-based heuristics on manipulation actions
(Institute of Electrical and Electronics Engineers (IEEE), 2016)
Text en actes de congrés
Accés obertIn order to solve mobile manipulation problems, the efficient combination of task and motion planning is usually required. Moreover, the incorporation of physics-based information has recently been taken into account in ... -
Task space vector field guiding for motion planning
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Text en actes de congrés
Accés obertThe article deals with the problem of planning in the task space in the presence of vector fields, while verifying and validating the constraints in the configuration space. The proposed approach, called the Task Space ... -
Task-dependent synergies for motion planning of an anthropomorphic dual-arm system
(Institute of Electrical and Electronics Engineers (IEEE), 2017-06-01)
Article
Accés obertThe paper deals with the problem of motion planning for anthropomorphic dual-arm robots. It introduces a measure of the similarity of the movements needed to solve two given tasks. Planning using this measure to select ... -
Teleoperación de manos antropomorfas
(Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
Text en actes de congrés
Accés obertUn escenario ideal para la teleoperaci´on de manos antropomorfas es que el operador humano pueda realizar una determinada operaci´on con sus propias manos y el sistema rob´otico teleoperado provisto de una mano antropomorfa ... -
The Kautham Project: A teaching and research tool for robot motion planning
(Institute of Electrical and Electronics Engineers (IEEE), 2014)
Comunicació de congrés
Accés obertThis paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, ... -
Use of path planning techniques based on harmonic functions for the haptic guidance of teleoperated assembly tasks
(2007-01)
Report de recerca
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 ... -
Using hand synergies as an optimality criterion for planning human-like motions for mechanical hands
(Institute of Electrical and Electronics Engineers (IEEE), 2014)
Comunicació de congrés
Accés obertThe use of anthropomorphic mechanical hands allows the execution of complex manipulation tasks and, therefore, its use is increasing, both in humanoid robots and mobile manipulators. The planning of the motions of these ...
