Enviaments recents

  • Task-dependent synergies for motion planning of an anthropomorphic dual-arm system 

    García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2017-06-01)
    Article
    Accés obert
    The 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 ...
  • Coordination of several robots based on temporal synchronization 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2016-12-01)
    Article
    Accés restringit per política de l'editorial
    This paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can ...
  • Exploiting the robot kinematic redundancy for emotion conveyance to humans as a lower priority task 

    Claret Robert, Josep Arnau; Venture, Gentiane; Basañez Villaluenga, Luis (2017-01-17)
    Article
    Accés restringit per política de l'editorial
    Current approaches do not allow robots to execute a task and simultaneously convey emotions to users using their body motions. This paper explores the capabilities of the Jacobian null space of a humanoid robot to convey ...
  • Switching frequency regulation in sliding mode control by a hysteresis band controller 

    Repecho del Corral, Víctor; Biel Solé, Domingo; Olm Miras, Josep Maria; Fossas Colet, Enric (2016-02-01)
    Article
    Accés obert
    Fixing the switching frequency is a key issue in sliding mode control implementations. This paper presents a hysteresis band controller capable of setting a constant value for the steady-state switching frequency of a ...
  • Grasp quality measures: review and performance 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2015-01-01)
    Article
    Accés obert
    The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand ...
  • Grasp analysis and synthesis of 2D articulated objects with n links 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (2015-02-01)
    Article
    Accés obert
    This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set ...
  • Planning manipulation movements of a dual-arm system considering obstacle removing 

    Rodríguez Pacheco, Carlos; Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2014-12-01)
    Article
    Accés obert
    The paper deals with the problem of planning movements of two hand-arm robotic systems, considering the possibility of using the robot hands to remove potential obstacles in order to obtain a free access to grasp a desired ...
  • Operational space consensus of multiple heterogeneous robots without velocity measurements 

    Aldana López, Carlos Iván; Nuño, Emmanuel; Basañez Villaluenga, Luis; Romero, Eduardo (2014-03-01)
    Article
    Accés restringit per política de l'editorial
    This paper proposes a control algorithm for networks of multiple heterogeneous robot manipulators, which solves the leader follower and the leaderless consensus problems in the operational space. In the leader-follower ...
  • Fixed frequency sliding mode-based robust inversion with a full-bridge current DC-link buck-boost 

    Olm Miras, Josep Maria; Biel Solé, Domingo; Fossas Colet, Enric; Cardoner Parpal, Rafel (2014-01)
    Article
    Accés restringit per política de l'editorial
    The substitution of the original switches by a full bridge in a Non-Inverting Buck-Boost converter results in an inverter capable of carrying out step-down and step-up tasks as well under sliding mode control. The control ...
  • 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. ...

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