El grup SIR desenvolupa la seva activitat en robòtica industrial i de serveis, proposant de forma transversal eines per a la teleoperació de robots i per a la manipulació destra d'objectes. Aquest enfocament requereix diverses temàtiques, com l'ús de dispositius hàptics, eines de posicionament relacional, sistemes de visió 3D amb realitat augmentada, simulació gràfica, algorismes de control i comunicacions mitjançant Internet, síntesi automàtica de prensions, telemanipulació i programació per demostració.

http://futur.upc.edu/SIR

El grupo SIR realiza su activitat dentro del marco de la robótica industrial y de servicio, y su investigación está centrada en la teleoperación de robots y en la manipulación diestra de objetos con una amplia gama de aplicaciones. La investigación en telerobótica requiere el desarrollo de diversas temáticas como la realimentación de fuerza mediante dispositivos hápticos, el posicionamiento relacional, la visión 3D con realidad aumentada, los sistemas de guiado basados en la planificación de movimientos, la simulación gráfica, los algoritmos de control y las comunicaciones a través de Internet. Por otro lado, en relación con la manipulación diestra de objetos, el grupo desarrolla temáticas como la síntesis automática de prensiones, la planificación de movimientos de mecanismos complejos, la telemanipulación y la programación por demostración que posibilitan la realización automática de tareas de prensión y manipulación.

http://futur.upc.edu/SIR

Group SIR activity takes mainly place within the frame of the service and industrial robotics, and its research is centered in the teleoperation of robots and the desterous manipulation of obejects, with a wide range of applications. The research in telerobotics requires the development of several topics like force feedback by means of haptic devices, realtional positioning, 3D vision with augmente reality, guidance systems based on motion planning, grpahical simulation, control alghorithms and communications through Internet. On the other hand, in relation to the dexterous manipulation of objects, the group develops topics like automatic synthesis of grasping, planning of movements of complex mechanisms, remote control of programming by demonstration that make possible the automatic performance of grasping tasks and manipulation.

http://futur.upc.edu/SIR

Group SIR activity takes mainly place within the frame of the service and industrial robotics, and its research is centered in the teleoperation of robots and the desterous manipulation of obejects, with a wide range of applications. The research in telerobotics requires the development of several topics like force feedback by means of haptic devices, realtional positioning, 3D vision with augmente reality, guidance systems based on motion planning, grpahical simulation, control alghorithms and communications through Internet. On the other hand, in relation to the dexterous manipulation of objects, the group develops topics like automatic synthesis of grasping, planning of movements of complex mechanisms, remote control of programming by demonstration that make possible the automatic performance of grasping tasks and manipulation.

http://futur.upc.edu/SIR

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 ...
  • 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) ...
  • 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 ...
  • Stability analysis of periodic solutions in non-linear autonomous circuits: a discrete time approach 

    Miró Sans, Joan Maria; Palà Schönwälder, Pere; Mas Casals, Orestes Miquel (1996-07)
    Article
    Accés restringit per política de l'editorial
    Steady-state methods have been devised to compute periodic wave-forms without having to integrate the autonomous circuit equations until the transients die out. Stability analysis of the computed solutions is the next ...
  • Simulación de la mano después de un ictus 

    Peña Pitarch, Esteve; Ticó Falguera, Neus; Al Omar Mesnaoui, Anas; Alcelay Larrión, José Ignacio; López Martínez, Joan Antoni (2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Realitzat a/amb:  Fundació Althaia
    Diferentes tipos de déficits neurológicos y secuelas en las extremidades superiores que afectan a las actividades de la vida diaria (AVD) en pacientes que han sufrido un ictus ha sido analizado de forma subjetiva desde ...
  • Desarrollo de una RNA para controlar el proceso de conformado en caliente 

    Alcelay Larrión, José Ignacio; Peña Pitarch, Esteve; Al Omar Mesnaoui, Anas (2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    El comportamiento del conformado en caliente de un acero microaleado de medio carbono ha sido analizado mediante una red neuronal artificial (RNA). Mediante la RNA obtenenemos los valores de la tensión de fluencia y a ...

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