Ara es mostren els items 4-12 de 12

    • Contact force transitions in regrasp tasks of planar objects 

      Grosch Obregon, Patrick John; Suárez Feijóo, Raúl; Carloni, Raffaella; Melchiorri, Claudio (2007-07-07)
      Report de recerca
      Accés obert
      This paper presents a simple and fast solution to the problem of finding the time variations of the forces that keep the object equilibrium when a finger is removed from a three contact point grasp or a finger is added to ...
    • Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (ASME PRESS, 2010)
      Article
      Accés obert
      This paper shows how to generate under-actuated manipulators by substituting nonholonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in ordinary (i.e. not under-actuated) manipulators. As a case ...
    • Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (2009)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      It will be shown how to generate under-actuated manipulators by substituting non-holonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in fully-parallel manipulators (FPMs). Through this pair ...
    • Geometric path planning without maneuvers for nonholonomic parallel orienting robots 

      Grosch Obregon, Patrick John; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2016-07)
      Article
      Accés obert
      Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind ...
    • Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; López, Javier; Thomas, Federico (2010)
      Text en actes de congrés
      Accés obert
      This paper introduces a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by serial chains having RRPS (Revolute-Revolute-Prismatic-Spherical) topology. Only the prismatic ...
    • Motion planning for parallel robots with non-holonomic joints 

      Tchon, Krzysztof; Jakubiak, Janusz; Grosch Obregon, Patrick John; Thomas, Federico (2012)
      Text en actes de congrés
      Accés obert
      Designing a robot manipulator with fewer actuators than the dimension of its configuration space —to reduce bulk, weight and cost— becomes feasible by introducing mechanical elements that lead to non-holonomic constraints. ...
    • Parallel robots with unconventional joints to achieve under-actuation and reconfigurability 

      Grosch Obregon, Patrick John (Universitat Politècnica de Catalunya, 2016-06-23)
      Tesi
      Accés obert
      The aim of the thesis is to define, analyze, and verify through simulations and practical implementations, parallel robots with unconventional joints that allow them to be under-actuated and/or reconfigurable. The new ...
    • The humanoidLab: involving students in a research centre through an educational initiative 

      Alenyà Ribas, Guillem; Rivero Partida, José Luís; Rull Sanahuja, Aleix; Grosch Obregon, Patrick John; Hernández Juan, Sergi (SciTePress, 2014)
      Text en actes de congrés
      Accés obert
      The HumanoidLab is a more than 5 year old activity aimed to use educational robots to approach students to our Research Centre. Different commercial educative humanoid platforms have been used to introduce students to ...
    • Uncalibrated visual servo for unmanned aerial manipulation 

      Santamaria Navarro, Àngel; Grosch Obregon, Patrick John; Lippiello, Vincenzo; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
      Article
      Accés obert
      This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to ...