Exploració per tema "manipulators"
Ara es mostren els items 1-20 de 38
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3D sensor planning framework for leaf probing
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Text en actes de congrés
Accés obertModern plant phenotyping requires active sensing technologies and particular exploration strategies. This article proposes a new method for actively exploring a 3D region of space with the aim of localizing special areas ... -
A friction-model-based framework for reinforcement learning of robotic tasks in non-rigid environments
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Text en actes de congrés
Accés obertLearning motion tasks in a real environment with deformable objects requires not only a Reinforcement Learning (RL) algorithm, but also a good motion characterization, a preferably compliant robot controller, and an agent ... -
A singularity-robust LQR controller for parallel robots
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertParallel robots exhibit the so-called forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularity-free ... -
A wrench-sensitive touch pad based on a parallel structure
(2008)
Text en actes de congrés
Accés obertMany different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most ... -
Active perception of deformable objects using 3D cameras
(Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
Text en actes de congrés
Accés obertPerception and manipulation of rigid objects has received a lot of attention, and several solutions have been proposed. In contrast, dealing with deformable objects is a relatively new and challenging task because they ... -
Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays
(2013)
Text en actes de congrés
Accés restringit per política de l'editorialAbstract—It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a ... -
Closed-loop inverse kinematics for redundant robots: comparative assessment and two enhancements
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Article
Accés obertMotivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used Closed-Loop IK (CLIK) methods for redundant robots, analysing their main points of concern: ... -
Considering the anchoring problem in robotic intelligent bin picking
(IOS Press, 2018)
Text en actes de congrés
Accés obertRandom Bin Picking means the selection by a robot of a particular item from a container (or bin) in which there are many items randomly distributed. Generalist robots and the Anchoring Problem should be considered if we ... -
Demonstration-free contextualized probabilistic movement primitives, further enhanced with obstacle avoidance
(Institute of Electrical and Electronics Engineers (IEEE), 2017)
Text en actes de congrés
Accés obertMovement Primitives (MPs) have been widely used over the last years for learning robot motion tasks with direct Policy Search (PS) reinforcement learning. Among them, Probabilistic Movement Primitives (ProMPs) are a kind ... -
Dimensionality reduction and motion coordination in learning trajectories with dynamic movement primitives
(Institute of Electrical and Electronics Engineers (IEEE), 2014)
Text en actes de congrés
Accés obertDynamic Movement Primitives (DMP) are nowadays widely used as movement parametrization for learning trajectories, because of their linearity in the parameters, rescaling robustness and continuity. However, when learning a ... -
Dual-arm framework for cooperative applications
(Institute of Electrical and Electronics Engineers (IEEE), 2016)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents a framework schema that allows to bring simulation results obtained from different dual-arm robotic applications to executions in real environments. The framework uses the Robot Operating System (ROS) ... -
From the Turing test to science fiction: the challenges of social robotics
(2013)
Text en actes de congrés
Accés obertThe Turing test (1950) sought to distinguish whether a speaker engaged in a computer talk was a human or a machine [6]. Science fiction has immortalized several humanoid robots full of humanity, and it is nowadays speculating ... -
Grasping novel objects
(2016)
Report de recerca
Accés obertThe work explained in this technical report is about evaluating some recent algorithms to grasp unforeseen objects for table clearance tasks. A tabletop object segmentation algorithm is proposed, and two recently published ... -
Handling high parameter dimensionality in reinforcement learning with dynamic motor primitives
(2013)
Text en actes de congrés
Accés obertDynamic Motor Primitives (DMP) are nowadays widely used as movement parametrization for learning trajectories, because of their linearity in the parameters, rescalation robustness and continuity. However, when learning a ... -
Hierarchical task control for aerial inspection
(2014)
Text en actes de congrés
Accés obertThis paper presents a task oriented control strategy for aerial vehicles equipped with a robotic arm and a camera attached to its end-effector. With this setting the camera can reach a new set of orientations previously ... -
Learning RGB-D descriptors of garment parts for informed robot grasping
(2014)
Article
Accés obertRobotic handling of textile objects in household environments is an emerging application that has recently received considerable attention thanks to the development of domestic robots. Most current approaches follow a ... -
Manipulation monitoring and robot intervention in complex manipulation sequences
(2014)
Text en actes de congrés
Accés obertCompared to machines, humans are intelligent and dexterous; they are indispensable for many complex tasks in areas such as flexible manufacturing or scientific experimentation. However, they are also subject to fatigue and ... -
Manipulation monitoring and robot intervention in complex manipulation sequences
(2014)
Text en actes de congrés
Accés obertCompared to machines, humans are intelligent and dexterous; they are indispensable for many complex tasks in areas such as flexible manufacturing or scientific experimentation. However, they are also subject to fatigue and ... -
Planning robot manipulation to clean planar surfaces
(2015)
Article
Accés obertThis paper presents a new approach to plan high-level manipulation actions for cleaning surfaces in household environments, like removing dirt from a table using a rag. Dragging actions can change the distribution of dirt ... -
Planning trajectories for the Esautomatix workcell
(2015)
Report de recerca
Accés obertThe iri_twin_staubli_plan_execute_trajectory package allows to plan trajectories in the esautomatix cell for both, simulation in Gazebo and execution in the real robots. The esautomatix_write_trajectory package allows ...
