Now showing items 1-6 of 6

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

    Hernansanz Prats, Alberto; Casals Gelpi, Alicia; Amat Girbau, Josep (2015-06-01)
    Article
    Open Access
    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)
    Conference report
    Restricted access - publisher's policy
    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)
    Doctoral thesis
    Open Access
    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)
    Conference report
    Open Access
    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
    Open Access
    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)
    Conference report
    Restricted access - publisher's policy
    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 ...