Recent Submissions

  • Grasp quality measures: review and performance 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2015-01-01)
    Article
    Open Access
    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
    Open Access
    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 ...
  • 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
    Restricted access - publisher's policy
    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
    Restricted access - publisher's policy
    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
    Open Access
    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. ...
  • A MILP model to design hybrid wind-photovoltaic isolated rural electrification projects in developing countries 

    Ferrer Martí, Laia; Domenech Léga, Bruno; García Villoria, Alberto; Pastor Moreno, Rafael (Elsevier, 2013-04-16)
    Article
    Restricted access - publisher's policy
    Electrification systems based on the use of renewable energy sources are a suitable option for providing electricity to isolated communities autonomously. Wind and hybrid wind–photovoltaic (PV) systems are increasingly ...
  • Hybrid mapping for the assistance of teleoperated grasping tasks 

    Colasanto, Luca; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2013-03)
    Article
    Open Access
    Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a ...
  • Sliding mode control of a stand-alone wound rotor synchronous generator 

    Muñoz Aguilar, Raúl Santiago; Dòria Cerezo, Arnau; Fossas Colet, Enric; Cardoner Parpal, Rafel (IEEE Press. Institute of Electrical and Electronics Engineers, 2011-10)
    Article
    Restricted access - publisher's policy
    This paper presents a sliding mode control for a wound rotor synchronous machine acting as an isolated generator. The standard dq model of the machine is connected to a resistive load. A switching function is defined ...
  • Synthesizing grasp configurations with specified contact regions 

    Rosales Gallegos, Carlos; Ros Giralt, Lluís; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl (2011)
    Article
    Open Access
    This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object ...
  • Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; Pérez, Alexander (2011-07)
    Article
    Open Access
    The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” ...

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