Browsing by Author "García Hidalgo, Néstor"
Now showing items 1-11 of 11
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Development of a dexterous dual-arm omnidirectional mobile manipulator
(2018-01-01)
Article
Restricted access - publisher's policyThis 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
(2017-07-01)
Article
Open AccessThis 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
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference lecture
Restricted access - publisher's policyThe 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
(Comité Español de Automática (CEA-IFAC), 2017)
Conference lecture
Restricted access - publisher's policyIn 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
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Conference report
Open AccessThis 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
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference lecture
Restricted access - publisher's policyThis 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 ... -
Motion planning using synergies : application to anthropomorphic dual-arm robots
(Universitat Politècnica de Catalunya, 2019-10-08)
Doctoral thesis
Open AccessMotion planning is a traditional field in robotics, but new problems are nevertheless incessantly appearing, due to continuous advances in the robot developments. In order to solve these new problems, as well as to improve ... -
Planificación de movimientos de dos conjuntos brazo-mano robóticos imitando movimientos humanos
(Universitat Politècnica de Catalunya, 2014-10)
Master thesis (pre-Bologna period)
Open AccessEn 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
(Institute of Electrical and Electronics Engineers (IEEE), 2017-06-01)
Article
Open AccessThe 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
(Institute of Electrical and Electronics Engineers (IEEE), 2014)
Conference lecture
Open AccessThis 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
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference lecture
Restricted access - publisher's policyThe 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 ...
