Now showing items 1-10 of 10

  • Development of a dexterous dual-arm omnidirectional mobile manipulator 

    Suárez Feijóo, Raúl; Palomo Avellaneda, Leopold; Martínez Miralles, Jordi Ramon; Clos Costa, Daniel; García Hidalgo, Néstor (2018-01-01)
    Article
    Restricted access - publisher's policy
    This paper presents an experimental mobile manipulator composed of a dual-arm torso with a human-like structure assembled on an omnidirectional platform. The dual-arm system integrates several commercial devices: two arms ...
  • First-order synergies for motion planning of anthropomorphic dual-arm robots 

    García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2017-07-01)
    Article
    Open Access
    This paper addresses the problem of designing a planning algorithm for anthropomorphic dual-arm robotic systems to find paths that mimics the movements of real human beings by using first-order synergies (correlations ...
  • 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, ...
  • Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration 

    Rosell Gratacòs, Jan; Nuño, Emmanuel; Claret, Josep A.; Zaplana Agut, Isiah; García Hidalgo, Néstor; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; Pérez Ruiz, Alexander; Mas Casals, Orestes Miquel; Basañez Villaluenga, Luis (Comité Español de Automática (CEA-IFAC), 2017)
    Conference lecture
    Restricted access - publisher's policy
    In 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 ...
  • Modeling human-likeness in approaching motions of dual-arm autonomous robots 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    This 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 ...
  • 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 ...
  • Planificación de movimientos de dos conjuntos brazo-mano robóticos imitando movimientos humanos 

    García Hidalgo, Néstor (Universitat Politècnica de Catalunya, 2014-10)
    Master thesis (pre-Bologna period)
    Open Access
    En este trabajo se presenta un método para resolver el problema de la planificación de movimientos de un sistema antropomórfico formado por dos conjuntos brazo-mano robóticos. El objetivo principal es minimizar el coste ...
  • Task-dependent synergies for motion planning of an anthropomorphic dual-arm system 

    García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2017-06-01)
    Article
    Open Access
    The paper deals with the problem of motion planning for anthropomorphic dual-arm robots. It introduces a measure of the similarity of the movements needed to solve two given tasks. Planning using this measure to select ...
  • The Kautham Project: A teaching and research tool for robot motion planning 

    Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, ...
  • 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 ...