Now showing items 1-20 of 20

    • A framework for robotized teleoperated tasks 

      Basañez Villaluenga, Luis; Rosell Gratacòs, Jan; Palomo Avellaneda, Leopold; Nuño Ortega, Emmanuel; Portilla Rodríguez, Henry (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
      Conference report
      Open Access
      Teleoperation systems allow the extension of the human operator’s sensing and manipulative capability into a remote environment to perform tasks at a distance, but the time-delays in the communications affect the stability ...
    • A Passivity-based controller without velocity measurements for the leaderless consensus of Euler-Lagrange systems 

      Nuño Ortega, Emmanuel; Ortega, Romeo; Basañez Villaluenga, Luis (2017-07-01)
      Article
      Open Access
      This paper deals with the problem of achieving consensus of multiple interconnected Euler-Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity-based control. It proposes a novel ...
    • A proportional plus damping injection controller for teleoperators with joint fexibility and time–delays 

      Nuño Ortega, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (IEEE, 2012)
      Conference lecture
      Restricted access - publisher's policy
      The problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a bilateral teleoperation scenario is ...
    • Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo (2010)
      Conference report
      Restricted access - publisher's policy
      Two controllers capable of achieving asymptotic convergence of position and velocity errors, of the ithmanipulator within a multiple robot network, are proposed. The controllers employ adaptive techniques to find an ...
    • An adaptive controller for bilateral teleoperators: transatlantic experiments using the internet 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; de Alba Padilla, Carlos; López Franco, Carlos (2012)
      Conference lecture
      Restricted access - publisher's policy
      A bilateral teleoperator is composed of a local and a remote manipulators interconnected through a communication channel. A human operator interacts with the local manipulator to remotely execute a given task via the ...
    • Bilateral haptic guided Robot teleoperation via packet switched networks using wave variables with impedance adaptation 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (Departament d'Enginyeria de Sistemes, Automàtica i Informació Industrial (ESAII), Institut d'Organització i Control de Sistemes Industrial (IOC), Institut de Robòtica i Informàtica (IRI) de la Universitat Politècnica de Catalunya, 2006-07)
      Conference report
      Open Access
      This paper presents the use of haptic devices in teleoperation systems with motion restrictions during robot teleoperation in order to provide the operator with increased awareness and better feeling of immersion, hence, ...
    • Bilateral teleoperation control without velocity measurements 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Obregón-Pulido, Guillermo; Solís-Perales, Gualberto (2011)
      Conference report
      Restricted access - publisher's policy
      This paper presents two controllers for a nonlinear bilateral teleoperation system that do not rely on velocity measurements. Under the reasonable assumptions that the human operator and the environment define passive ...
    • Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays 

      Nuño Ortega, Emmanuel; Sarras, Ioannis; Panteley, Elena; Basañez Villaluenga, Luis (2012)
      Conference lecture
      Restricted access - publisher's policy
      The present work reports a sufficient condition for the consensus of a network of nonidentical Euler-Lagrange (EL) systems with variable time-delays in the communications. The EL-systems are controlled by simple Proportional ...
    • Control in the operational space of bilateral teleoperators with time-delays and without velocity measurements¿ 

      Aldana, Carlos I.; Cruz, Emmanuel; Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (2018-01-01)
      Article
      Open Access
      This paper proposes a control scheme in the operational space for bilateral teleoperation systems composed of heterogeneous robots (kinematically and dynamically different) without velocity sensors and considering variable ...
    • Coordination of multi-agent systems via energy–shaping: networking improves robustness 

      Nuño Ortega, Emmanuel; Ortega, Romeo; Jayawardhana, Bayu; Basañez Villaluenga, Luis (2012)
      Conference lecture
      Restricted access - publisher's policy
      In this paper the problem of robust coordination of multi–agent systems via energy–shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters. The control objective is to drive all ...
    • Erratum to ‘‘An adaptive controller for nonlinear teleoperators" 

      Nuño Ortega, Emmanuel; Ortega, Romeo; Basañez Villaluenga, Luis (2011-05-01)
      Article
      Restricted access - publisher's policy
    • Haptic guidance with force feedback to assist teleoperation systems via high speed networks 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (VDI Verlag, 2006-05)
      Conference report
      Open Access
      The employment of haptic devices in teleoperation systems and the use of motion restrictions during robot teleoperation provide the operator with increased awareness and can considerably improve the feeling of immersion ...
    • Internet2: características, estado del arte y perspectivas futuras 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (2004-04)
      External research report
      Open Access
      El objetivo fundamental de este trabajo es dar a conocer el estado del arte de Internet 2, diferencias con Internet, proyectos internacionales basados en Internet 2, así como una descripción detallada de su funcionamiento.
    • Minimalistic approach for monocular SLAM system applied to micro aerial vehicles in GPS-denied environments 

      Sarquís Urzúa Cevallos, Isidro; Munguía Alcalá, Rodrigo Francisco; Nuño Ortega, Emmanuel; Grau Saldes, Antoni (2018-12-01)
      Article
      Open Access
      In this work, a novel monocular simultaneous localization and mapping (SLAM) system with application to micro aerial vehicles is proposed. The main difference with respect to previous approaches is that a barometer is used ...
    • Nonlinear control and geometric constraint enforcement for teleoperated task execution 

      Rodríguez Tsouroukdissian, Adolfo; Nuño Ortega, Emmanuel; Palomo Avellaneda, Leopold; Basañez Villaluenga, Luis (2010)
      Conference report
      Restricted access - publisher's policy
      This work presents a multimodal teleoperation framework that makes use of novel tools and techniques, such as: nonlinear teleoperators control, for ensuring position tracking in the presence of variable time-delays; ...
    • Passive bilateral teleoperation framework for assisted robotic tasks 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo (Institute of Electrical and Electronics Engineers, 2006-04)
      Conference report
      Open Access
      This paper addresses the problem of stable bilateral teleoperation, through a time-delayed communication channel, for a n-DOF system without position drift. The classical wave variables-based scheme encodes velocity and ...
    • Passivity-based control for bilateral teleoperation: A tutorial 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo (2011-03)
      Article
      Restricted access - publisher's policy
      This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering–based, damping injection ...
    • Position tracking using adaptive control for bilateral teleoperators with time-delays 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo; Obregón-Pulido, Guillermo (2010)
      Conference report
      Restricted access - publisher's policy
      This paper presents two versions of adaptive controllers for nonlinear bilateral teleoperators, each providing asymptotic convergence of velocity and position errors to zero, independent of constant time-delays. Moreover, ...
    • Teleoperación [de robots]: técnicas, aplicaciones, entorno sensorial y teleoperación inteligente 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (2004-04)
      External research report
      Open Access
      En este trabajo centraremos la atención en los sistemas robóticos teleoperados, especialmente analizaremos los sistemas teleoperados desde internet, veremos una clasificación de las metodologías de teleoperación, los ...
    • Trajectory tracking and consensus of networks of Euler–Lagrange systems 

      Nuño Ortega, Emmanuel; Ortega, Romeo; Basañez Villaluenga, Luis; Hill, David (Curran, 2011)
      Conference report
      Restricted access - publisher's policy
      This paper addresses the problem of synchronizing networks of nonidentical, nonlinear dynamical systems described by Euler–Lagrange equations. It is assumed that the communication graph is simply connected and that the ...