Recent Submissions

  • Esquema de integración para experimentación real con sistemas robóticos bi-brazo 

    Rojas de Silva Gonzalez, Francisco Abiud; Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (Comité Español de Automática (CEA-IFAC), 2016)
    Conference lecture
    Open Access
    En este art culo se presenta un esquema para la integraci on de un sistema rob otico bi-brazo, para transformar resultados obtenidos de simulaciones en ejecuciones en un entornos real. Este esquema utiliza una capa de ...
  • Integrated task and motion planning using physics-based heuristics 

    Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (2016)
    Conference lecture
    Open Access
    —This work presents a knowledge-based task and motion planning framework based on a version of the FastForward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about ...
  • Virtual human hand: forces calculation in power or precision grasp 

    Peña Pitarch, Esteve; Ticó Falguera, Neus; Al Omar Mesnaoui, Anas; Alcelay Larrión, José Ignacio (2016)
    Conference report
    Restricted access - publisher's policy
    The aim of this work is to show a novel environment to simulate and calculate the forces exerted in each point of contact when grasping with power or precision. Virtual hand was designed and validated with 25 degrees of ...
  • Physics-based motion planning: evaluation criteria and benchmarking 

    Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2015)
    Conference report
    Restricted access - publisher's policy
    Motion planning has evolved from coping with simply geometric problems to physics-based ones that incorporate the kinodynamic and the physical constraints imposed by the robot and the physical world. Therefore, the criteria ...
  • Reasoning-based evaluation of manipulation actions for efficient task planning 

    Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Springer, 2015)
    Conference lecture
    Restricted access - publisher's policy
    To cope with the growing complexity of manipulation tasks, the way to combine and access information from high- and low-planning levels has recently emerged as an interesting challenge in robotics. To tackle this, the ...
  • 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 ...
  • 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 ...

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