• A multi-robot cooperation strategy for dexterous task oriented teleoperation 

    Hernansanz Prats, Alberto; Casals Gelpi, Alicia; Amat Girbau, Josep (2015-06-01)
    Article
    Accés obert
    The use of multiple robots working cooperatively in a redundant way offers new possibilities in the execution of complex tasks in dynamic workspaces. The aim of this work is to increase the range of applicability of ...
  • Improving the development of surgical skills with virtual fixtures in simulation 

    Hernansanz Prats, Alberto; Zerbato, Davide; Gasperotti, Lorenza; Scandola, Michele; Fiorini, Paolo; Casals Gelpi, Alicia (Springer, 2012)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    This paper focuses on the use of virtual fixtures to improve the learning of basic skills for laparoscopic surgery. Five virtual fixtures are defined, integrated into a virtual surgical simulator and used to define an experimental ...
  • Multi-robot cooperative platform : a task-oriented teleoperation paradigm 

    Hernansanz Prats, Alberto (Universitat Politècnica de Catalunya, 2016-04-14)
    Tesi
    Accés obert
    This thesis proposes the study and development of a teleoperation system based on multi-robot cooperation under the task oriented teleoperation paradigm: Multi-Robot Cooperative Paradigm, MRCP. In standard teleoperation, ...
  • Optimization criterion for safety task transfer in cooperative robotics 

    Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia (2009)
    Text en actes de congrés
    Accés obert
    This paper presents a strategy for a cooperative multirobot system, constituting a Virtual Robot. The Virtual Robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task ...
  • Robots cooperants? 

    Hernansanz Prats, Alberto (2008-02)
    Audiovisual
    Accés obert
    Els robots industrials realitzen moviments repetitius i automàtics. A la UPC treballem perquè interaccionin i realitzin així una determinada acció amb els moviments que creguin més adients.
  • Virtual Robot: a new teleoperation paradigm for minimally invasive robotic surgery 

    Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2012)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    This paper presents a novel teleoperation paradigm, the Virtual Robot (VR), focused on facilitating the surgeon tasks in minimally invasive robotic surgery. The VR has been conceived to increase the range of applicability ...