Ara es mostren els items 1-20 de 64

  • A framework for robotized teleoperated tasks 

    Basañez Villaluenga, Luis; Rosell Gratacòs, Jan; Palomo Avellaneda, Leopold; Nuño Ortega, Emmanuel; Portilla Rodríguez, Henry (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
    Text en actes de congrés
    Accés obert
    Teleoperation systems allow the extension of the human operator’s sensing and manipulative capability into a remote environment to perform tasks at a distance, but the time-delays in the communications affect the stability ...
  • An adaptative deterministic sequence for sampling-based motion planners 

    Rosell Gratacòs, Jan; Iñíguez Galbete, Pedro (2004-09)
    Report de recerca
    Accés obert
    This paper presents a deterministic sequence with good and useful features for sampling-based motion planners, On the one hand, the proposed sequence is able to generate samples over a hierarchical grid structure of the ...
  • Analysis of fixturing quality for a variable number of fixturing points and friction values 

    Penalba, Francesc; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (IEEE Computer Society Publications, 2009)
    Text en actes de congrés
    Accés obert
    This paper copes with the automatic determination of fixturing points on 2D and 3D free-form objects, for any number of fixturing points and a variable friction coefficient at the contacts. A software tool that implements ...
  • An assisted re-synchronization method for robotic teleoperated tasks 

    Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (IEEE, 2011)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Teleoperation tasks are performed at cartesian evel when the robot and the haptic device ave dissimilar inematics. If the size of the workspaces is also dissimilar, as it is usually the case, the mapping between workspaces ...
  • An Ontology Framework for Physics-Based Manipulation Planning 

    Diab, Mohammed; Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    In manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion ...
  • A novel path planning proposal based on the combination of deterministic sampling and harmonic functions 

    Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander; Iñíguez Galbete, Pedro (2007-03)
    Report de recerca
    Accés obert
    The sampling-based approach is currently the most successful and yet more promising approach to path planning problems. Sampling-based methods are demonstrated to be probabilistic complete, being their performance reliant ...
  • A performance analysis tool of discrete-events systems 

    Casado Pastor, Francesc; Peñarroya Isanta, Albert; Rosell Gratacòs, Jan (2007-01)
    Report de recerca
    Accés obert
    The analysis of the logic correctness of the system and its performance evaluation are usually carried out using, respectively, the Petri nets formalism and the discrete-event simulation. Several tools exist for both. The ...
  • Aplicación de algoritmos RRT en la planificación de movimientos óptimos en robótica 

    García, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (2017)
    Comunicació de congrés
    Accés restringit per política de l'editorial
    La planificación de movimientos es un área de investigación básica en robótica, sobre todo desde que los robots se convirtieron en una parte esencial en muchos campos de aplicación tales como, por ejemplo, las industrias ...
  • A roadmap to robot motion planning software development 

    Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (2009-02-23)
    Article
    Accés obert
    PhD programs and graduate studies in robotics usually include motion planning among its main subjects. Students that focus their research in this subject find themselves trapped in the necessity of programming an environment ...
  • A three-stage method for the 3D reconstruction of the tracheobronchial tree from CT scans 

    Rosell Gratacòs, Jan; Cabras, Paolo (2013-10)
    Article
    Accés restringit per política de l'editorial
    This paper proposes a method for segmenting the airways from CT scans of the chest to obtain a 3D modelthat can be used in the virtual bronchoscopy for the exploration and the planning of paths to the lesions.The method ...
  • Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; Pérez, Alexander (2011-07)
    Article
    Accés obert
    The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” ...
  • cRRT*: Planning loosely-coupled motions for multiple mobile robots 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Comunicació de congrés
    Accés obert
    The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT planner has been proposed to cope ...
  • C-space decomposition using deterministic sampling and distances 

    Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander (Institute of Electrical and Electronics Engineers, 2007-11)
    Text en actes de congrés
    Accés obert
    Hierarchical cell decompositions of Configuration Space can be of great value for enhancing sampling-based path planners, as well as for other robotic tasks with requirements beyond the planning of free paths. This paper ...
  • Determination of seven frictionless fixturing points searching the object surface with a homogeneous deterministic distribution 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2007-02)
    Report de recerca
    Accés obert
    The paper deals whit the problem of finding a form-closure fixturing of objects modeled whit triangular meshes and considering as quality measure the maximum wrench that the object can resist in any direction. Although a ...
  • Efficient motion planning for high DOF hands using principal motion directions 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; García, J.A.; Pérez Ruiz, Alexander (2008-10)
    Report de recerca
    Accés obert
    The paper deals with the problem of motion planning of anthropomorphical mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand workspace, but reducing the dimension of the search ...
  • Efficient search of obstacle-free paths for anthropomorphic hands 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Rosales Gallegos, Carlos (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
    Text en actes de congrés
    Accés obert
    The planning of collision-free motions of a handarm system to reach a grasp or preshape configuration is not a simple issue due to the high number of involved degrees of freedom. This paper presents an efficient sampling-based ...
  • Exploration of the grasp space using independent contact and non-graspable regions 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2008-04)
    Report de recerca
    Accés obert
    This report presents the use of independent contact and non-graspable regions to generate the grasp space for 2D and 3D discrete objects. The grasp space is constructed via a sampling method, which provides samples of ...
  • Finding grasping configurations of a dexterous hand and an industrial robot 

    Rosell Gratacòs, Jan; Sierra, Xavier; Palomo Avellaneda, Leopold; Suárez Feijóo, Raúl (2004-10)
    Report de recerca
    Accés obert
    Given an industrial robot equipped with a dexterous hand and an object to be grasped with four grasping points determined on its faces, this paper deals with the problem of finding the joint configurations that allow to ...
  • Fine-motion planning for robotic assembly under modelling and sensing uncertainties 

    Rosell Gratacòs, Jan (Universitat Politècnica de Catalunya, 1998-10-13)
    Tesi
    Accés obert
    This thesis proposes a fine-motion planner for assembly tasks in the plane considering two degrees of freedom of translation and one of rotation, taking into account modelling and sensing uncertainties and the effect of ...
  • First-order synergies for motion planning of anthropomorphic dual-arm robots 

    García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2017-07-01)
    Article
    Accés obert
    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 ...