Exploració Ponències/Comunicacions de congressos per data d'edició
Ara es mostren els items 1-20 de 118
-
FailRecOnt - An ontology-based framework for failure interpretation and recovery in planning and execution
(2021)
Text en actes de congrés
Accés obertAutonomous mobile robot manipulators have the potential to act as robot helpers at home to improve quality of life for various user populations, such as elderly or handicapped people, or to act as robot co-workers on factory ... -
Automatic generation of behavior trees for the execution of robotic manipulation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2021)
Text en actes de congrés
Accés obertRobots should be able to exercise reasoning in both symbolic and geometric levels in order to plan a manipulation task. The execution of such tasks needs to be robust enough to cope with real environments. In an attempt ... -
A lightweight perception module for planning purposes
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Comunicació de congrés
Accés obertSensing is an essential component for robots to perform the manipulation tasks in real environments. This study proposes a lightweight deep-learning-based sensing modules which allows the robots to automatically model the ... -
Flexibly configuring task and motion planning problems for mobile manipulators*
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Comunicació de congrés
Accés obertRobotic manipulation requires the planning at a symbolic level (task planning) and at a geometric level (motion planning). This paper presents a planning framework for both levels of planning that includes an easy way to ... -
“Knowing from” – An outlook on ontology enabled knowledge transfer for robotic systems
(2020)
Text en actes de congrés
Accés obertEncoding practical knowledge about everyday activities has proven difficult, and is a limiting factor in the progress of autonomous robotics. Learning approaches, e.g. imitation learning from human data, have been used as ... -
Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies
(2020)
Text en actes de congrés
Accés obertThis paper presents an approach to perform bilateral in-hand (dexterous) telemanipulation of unknown objects. The proposed approach addresses three of the main problems in telemanipulation: \eno{kinematic issues due to the ... -
Learning Action-oriented grasping for manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2019)
Comunicació de congrés
Accés restringit per política de l'editorialComplex manipulation tasks require grasping strategies that simultaneously satisfy the stability and the semantic constraints that have to be satisfied for an action to be feasible, referred as action-oriented semantic ... -
Herramienta para visualización gráfica de fuerzas de contacto y de movimientos de una mano robótica con sensores táctiles
(2019)
Comunicació de congrés
Accés obertEn este trabajo se presenta una herramienta de software que permite la visualización gráfica de fuerzas de contacto de especial utilidad en prensiones usando manos robóticas. Las fuerzas visualizadas se generan debido ... -
An ontology for failure interpretation in automated planning and execution
(2019)
Comunicació de congrés
Accés obertAutonomous indoor robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions, where task and motion planning levels are coupled. In both planning levels and execution phase, several source ... -
Model-free in-hand manipulation based on commanded virtual contact points
(Institute of Electrical and Electronics Engineers (IEEE), 2019)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents a simple strategy to allow therotation of unknown objects using a robotic hand equipped withtactile sensors. The tactile and kinematic information, obtainedwhile that the object ... -
Manipulación diestra de objetos desconocidos usando puntos de contacto virtuales
(2019)
Text en actes de congrés
Accés obertEn este trabajo se presenta una estrategia de manipulación que permite rotar objetos desconocidos usando una mano robótica equipada con sensores táctiles. Las configuraciones de la mano que permiten cambiar la posición ... -
Assembly planning in cluttered environments through heterogeneous reasoning
(Springer, 2018)
Comunicació de congrés
Accés obertAssembly recipes can elegantly be represented in description logic theories. With such a recipe, the robot can figure out the next assembly step through logical inference. However, before performing an action, the robot ... -
Improving grasping forces during the manipulation of unknown objects
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertMany of the solutions proposed for the object manipulation problem are based on the knowledge of the object features. The approach proposed in this paper intends to provide a simple geometrical approach to securely manipulate ... -
Planning hand-arm grasping motions with human-like appearance
(2018)
Text en actes de congrés
Accés obertThis paper addresses the problem of obtaining human-like motions on hand-arm robotic systems performing pick-and-place actions. The focus is set on the coordinated movements of the robotic arm and the anthropomorphic ... -
Modeling human-likeness in approaching motions of dual-arm autonomous robots
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertThis paper addresses the problem of obtaining human-like motions with an anthropomorphic dual-arm torso assembled on a mobile platform. The focus is set on the coordinated movements of the robotic arms and the robot base ... -
Manipulación de objetos desconocidos analizando localmente su forma para optimizar las fuerzas de prensión
(2018)
Comunicació de congrés
Accés restringit per política de l'editorialLos enfoques propuestos para la manipulación de objetos se basan, generalmente, en el conocimiento de las características del objeto manipulado. En este trabajo se presenta un enfoque geométrico que permite manipular un ... -
Physics-based Motion Planning with Temporal Logic Specifications
(2017-07-01)
Comunicació de congrés
Accés obertOne of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find ... -
Aplicación de algoritmos RRT en la planificación de movimientos óptimos en robótica
(2017)
Comunicació de congrés
Accés restringit per política de l'editorialLa planificación de movimientos es un área de investigación básica en robótica, sobre todo desde que los robots se convirtieron en una parte esencial en muchos campos de aplicación tales como, por ejemplo, las industrias ... -
Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration
(Comité Español de Automática (CEA-IFAC), 2017)
Comunicació de congrés
Accés restringit per política de l'editorialIn work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e. the mobile manipulators ... -
An Ontology Framework for Physics-Based Manipulation Planning
(Springer, 2017)
Text en actes de congrés
Accés restringit per política de l'editorialIn manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion ...
