Browsing by Author "Borràs Sol, Júlia"
Now showing items 1-20 of 38
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A distance-based formulation of the octahedral manipulator kinematics
(2010)
Conference report
Open AccessIn most practical implementations of the Gough-Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particular instance of the Gough-Stewart platform, commonly known ... -
A family of quadratically-solvable 5-SPU parallel robots
(2010)
Conference report
Open AccessA 5-SPU robot with collinear universal joints is well suited to handling an axisymmetric tool, since it has 5 controllable DoFs and the remaining one is a free rotation around the tool. The kinematics of such a robot having ... -
A Grasping-centered analysis for cloth manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2020-06-01)
Article
Open AccessCompliant and soft hands have gained a lot of atten- tion in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping ... -
A reconfigurable 5-DoF 5-SPU parallel platform
(2009)
Conference report
Open AccessThis paper presents a 5-SPU platform whose base leg attachments can be easily reconfigured, statically or dynamically, without altering its singularity locus. This permits to adapt the platform’s geometry to particular ... -
A representation of cloth states based on a derivative of the Gauss linking integral
(Elsevier, 2023-11-15)
Article
Open AccessRobotic manipulation of cloth is a complex task because of the infinite-dimensional shape-state space of textiles, which makes their state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, ... -
A Versatile Gripper for Cloth Manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2020-10)
Article
Open AccessCloth manipulation has been mostly advancing in perception and modeling methods for cloth state estimation and grasping point detection. In comparison, less attention has been put on end-effector design. Indeed, most ... -
A virtual reality framework for fast dataset creation applied to cloth manipulation with automatic semantic labelling
(Institute of Electrical and Electronics Engineers (IEEE), 2023)
Conference report
Open AccessTeaching complex manipulation skills, such as folding garments, to a bi-manual robot is a very challenging task, which is often tackled through learning from demonstration. The few datasets of garment-folding demonstrations ... -
Analysing the singularities of 6-SPS parallel robots using virtual legs
(LIRMM, 2008)
Conference report
Open AccessA virtual leg in a 6-SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. ... -
Architectural singularities of a class of pentapods
(2011)
Article
Open AccessA pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling ... -
Architecture singularities in flagged parallel manipulators
(IEEE, 2008)
Conference report
Open AccessFlagged manipulators are of interest because they are the only Stewart-Gough platforms for which a cell decomposition of their singularity loci is available. Here we show that the known family of such manipulators can be ... -
Benchmarking bimanual cloth manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Article
Open AccessCloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this paper, we provide three benchmarks for evaluation and comparison ... -
Benchmarking cloth manipulation using action graphs: an example in placing flat
(2021)
Conference report
Open AccessBenchmarking robotic manipulation is complex due to the difficulty in reproducing and comparing results across different embodiments and scenarios. Cloth manipula- tion presents additional challenges due to the complex ... -
Challenge 4: Intelligent robotics
(Consejo Superior de Investigaciones Científicas (CSIC), 2021)
Part of book or chapter of book
Restricted access - publisher's policyIntelligent robotics are called to be the next revolution by providing AI with the capability of interacting with the physical world. Robots are overpassing their cages in the industry to become intelligent machines that ... -
Cloth manipulation and perception competition
(2022)
Conference report
Open AccessIn the last decade, several competitions in robotic manipulation have been organised as a way to drive scientific progress in the field. They enable comparison of different approaches through a well-defined benchmark with ... -
Direct position analysis of a large family of spherical and planar parallel manipulators with four loops
(2008)
Conference report
Open AccessThe direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint ... -
Direct position analysis of a large family of spherical and planar parallel manipulators with four loops
(LIRMM, 2008)
Conference report
Open AccessThe direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint ... -
Effective grasping enables successful robot-assisted dressing
(American Association for the Advancement of Science (AAAS), 2022)
Article
Open AccessAdvances in computer vision and robotic manipulation are enabling assisted dressing. -
Experiència pràctica de comunicació de Matemàtiques a la ciutadania i a secundària – 2a fase
(Universitat Politècnica de Catalunya. Institut de Ciències de l'Educació, 2013-02-08)
Conference report / Conference lecture
Restricted access - author's decisionEl projecte implementa experiències pràctiques dels estudis universitaris de matemàtiques (grau, llicenciatura i màsters) en l'àmbit de la docència i la divulgació científica. La finalitat divulgativa pretén fomentar ... -
Household cloth object set: fostering benchmarking in deformable object manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2022-07)
Article
Open AccessBenchmarking of robotic manipulations is one of the open issues in robotic research. An important factor that has enabled progress in this area in the last decade is the existence of common object sets that have been shared ... -
Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor
(2020)
Conference report
Open AccessTactile feedback during cloth manipulation could be crucial in addressing the huge challenges involved in closing the loop during execution, complementing vision. However, up to our knowledge, tactile sensing has only been ...
