Recent Submissions

  • Sliding mode control of a voltage source inverter with switching frequency regulation 

    Repecho del Corral, Víctor; Biel Solé, Domingo; Olm Miras, Josep Maria; Fossas Colet, Enric (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Conference report
    Restricted access - publisher's policy
    This work presents the study of a switching frequency regulation of a sliding mode control under tracking control scheme. A variable hysteresis band with an additional control loop is proposed and the equivalent system is ...
  • Commanding the object orientation using dexterous manipulation 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Springer, 2015)
    Conference lecture
    Restricted access - publisher's policy
    This paper presents an approach to change the orientation of a grasped object using dexterous manipulation teleoperated in a very simple way with the commands introduced by an operator using a keyboard. The novelty of the ...
  • Unknown object manipulation based on tactile information 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This work proposes an approach to manipulate unknown objects based on tactile information. The manipulation can have three goals: the optimization of the hand configuration, the optimization of the grasp quality and the ...
  • Sliding mode abc current control for PMSM drives with an enhanced high frequency injection algorithm for sensorless operation 

    Repecho del Corral, Víctor; Biel Solé, Domingo; Arias Pujol, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2009)
    Conference report
    Restricted access - publisher's policy
    A high frequency injection (HF) based sensorless Sliding Mode Control (SMC) for Permanent Magnet Synchronous Machines (PMSMs) is designed. An analytical analysis, which demonstrates that the HF band is perturbed under ...
  • Control en modo deslizante en entrelazado y gestión de potencia en un convertidor Buck de 8 fases 

    Garcia, Pilar; Repecho del Corral, Víctor; Biel Solé, Domingo; Ramos Lara, Rafael Ramón (2015)
    Conference report
    Restricted access - publisher's policy
    Este artículo presenta el diseño de un control en modo de deslizamiento con entrelazado de un convertidor Buck multifase. El control en modo de deslizamiento incluye un algoritmo para la ecualización de las corrientes de ...
  • Comparison of motion planners in an environment with removable obstacles 

    Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This work deals with the problem of motion planning for a robotic system with two arms, considering the possibility of using one arm to remove potential obstacles in order to get a collision-free path to reach a desired ...
  • HG-RRT*: Human-Guided Optimal Random Trees for Motion Planning 

    García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    The paper deals with the problem of designing an RRT*-based planning algorithm that allows the user to guide the tree growth in a simple and transparent way. The key idea of the proposal is to create a planning algorithm, ...
  • Motion planning using first-order synergies 

    García Hidalgo, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees of freedom, extending it to the velocity space and calling them first-order synergies. An automatic ...
  • Síntesis de prensiones con “force-closure” para un objeto articulado 3D con 3 eslabones 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (2015)
    Conference lecture
    Open Access
    Este trabajo aborda el problema de la síntesis de prensiones con “force-closure” para un objeto articulado 3D constituido por 3 eslabones y considerando contactos sin fricción. La superficie de cada eslabón se representa ...
  • Using synergies in dual-arm manipulation tasks 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key ...

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