Enviaments recents

  • Combining motion planning and task planning for a dual-arm system 

    Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (2016)
    Text en actes de congrés
    Accés obert
    This paper deals with the problem of combining motion and task assignment for a dual-arm robotic system. Each arm of the system performs independent tasks in a cluttered environment. Robot actions ...
  • Grasping bulky objects with two anthropomorphic hands 

    Rojas de Silva Gonzalez, Francisco Abiud; Suárez Feijóo, Raúl (2016)
    Text en actes de congrés
    Accés obert
    This paper presents an algorithm to compute precision grasps for bulky objects using two anthropomorphic hands. We use objects modeled as point clouds obtained from a sensor camera or from ...
  • Implementación digital de un controlador deslizante en un PMSM con frecuencia de conmutación fija 

    Repecho del Corral, Víctor; Biel Solé, Domingo; Arias Pujol, Antoni (2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Este artículo describe la implementación de un control de corriente en modo deslizante para una máquina síncrona de imanes permanentes. El estudio se centra en los fenómenos que aparecen cuando los controladores diseñados ...
  • Sobre la estabilidad local de redes eléctricas CC alimentando cargas dinámicas de potencia constante 

    Arocas Pérez, José; Griñó Cubero, Robert (2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Este artículo presenta un nuevo método para es tablecer las condiciones que extienden el rango de estabilidad local de circuitos eléctricos de corriente continua con cargas de potencia constante a todo el rango de existencia ...
  • 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 ...
  • Grasp synthesis of 3D articulated objects with n links 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    This paper addresses the problem of grasp synthesis with force-closure for 3D articulated objects consisting of n links and considering frictional and non-frictional contacts. The surface of each link is represented by a ...
  • Dual-arm framework for cooperative applications 

    Rodríguez Pacheco, Carlos; Rojas de Silva Gonzalez, Francisco Abiud; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    This 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) ...
  • 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 ...
  • Teleoperating a mobile manipulator and a free-flying camera from a single haptic device 

    Claret Robert, Josep Arnau; Zaplana Agut, Isiah; Basañez Villaluenga, Luis (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Text en actes de congrés
    Accés obert
    The paper presents a novel teleoperation system that allows the simultaneous and continuous command of a ground mobile manipulator and a free flying camera, implemented using an UAV, from which the operator can monitor the ...

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