Now showing items 1-11 of 11

  • An assisted re-synchronization method for robotic teleoperated tasks 

    Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (IEEE, 2011)
    Conference report
    Restricted access - publisher's policy
    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 ...
  • A roadmap to robot motion planning software development 

    Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (2009-02-23)
    Article
    Open Access
    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 ...
  • Asistencia háptica basada en planificación de movimientos para la teleoperación cooperativa de sistemas multirobot 

    Pérez Ruiz, Alexander (Universitat Politècnica de Catalunya, 2012-10-17)
    Doctoral thesis
    Open Access
    This work proposes a framework for the teleoperation of anthropomorphic industrial robots using desktop haptic devices that provides an aid to the operator in the form of haptic guidance based on path planning techniques. ...
  • 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)
    External research report
    Open Access
    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)
    Conference report
    Open Access
    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 ...
  • Haptic aids for bilateral teleoperators 

    Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (Springer, 2013)
    Conference report
    Restricted access - publisher's policy
    Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between ...
  • Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration 

    Rosell Gratacòs, Jan; Nuño, Emmanuel; Claret, Josep A.; Zaplana Agut, Isiah; García Hidalgo, Néstor; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; Pérez Ruiz, Alexander; Mas Casals, Orestes Miquel; Basañez Villaluenga, Luis (Comité Español de Automática (CEA-IFAC), 2017)
    Conference lecture
    Restricted access - publisher's policy
    In 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 ...
  • Motion planning for high DOF anthropomorphic hands 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; García, Jorge Alberto; Pérez Ruiz, Alexander (IEEE, 2009-05-31)
    Conference report
    Open Access
    The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search ...
  • Motion planning for the virtual bronchoscopy 

    Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Cabras, Paolo; Rosell, Antoni (IEEE, 2012)
    Conference lecture
    Restricted access - publisher's policy
    Bronchoscopy is an interventional medical procedure employed to analyze the interior side of the human airways, clear possible obstructions and biopsy. Using a 3D reconstruction of the tracheobronchial tree, Virtual ...
  • Path planning for grasping operations using an adaptive PCA-based sampling method 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Pérez Ruiz, Alexander (2013-07-01)
    Article
    Open Access
    The planning of collision-free paths for a handarm robotic system is a difficult issue due to the large number of degrees of freedom involved and the cluttered environment usually encountered near grasping configurations. ...
  • The Kautham Project: A teaching and research tool for robot motion planning 

    Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    This 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, ...