Browsing by Author "Suárez Feijóo, Raúl"
Now showing items 1-20 of 122
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A simple yet smart head module for mobile manipulators
(2023)
Conference report
Open AccessMobile manipulators working in semi-structured human environments need smart vision capabilities to perceive the world and interact with human operators. With this purpose in mind, this paper presents the development of a ... -
An on-line coordination algorithm for multi-robot systems
(2013)
Conference report
Restricted access - publisher's policyThis paper proposes a solution to the problem of coordinating multi-robot systems, which execute individually planned tasks in a shared workspace. The presented approach is a decoupled method that can coordinate the participants ... -
Analysis of fixturing quality for a variable number of fixturing points and friction values
(IEEE Computer Society Publications, 2009)
Conference report
Open AccessThis 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 ... -
Aplicación de algoritmos RRT en la planificación de movimientos óptimos en robótica
(2017)
Conference lecture
Restricted access - publisher's policyLa 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 ... -
Application of genetic algorithms to assembly sequence planning with limited resources
(IEEE Computer Society Conference Publishing Services (CPS), 1999-07-24)
Part of book or chapter of book
Restricted access - publisher's policyHeuristic procedures based on priority rules are quite frequently used to solve the multiple resource-constrained project-scheduling problem (RCPSP), i.e. task programming with limited resources. The rules are based on the ... -
Aspectos técnicos de los robots co-trabajadores con operadores humanos
(2019-07-01)
Article
Open AccessLa robótica colaborativa, en la que los robots comparten el espacio de trabajo con los humanos e interactúan con ellos, toma un papel cada vez más relevante. En este contexto, el artículo presenta desarrollos realizados ... -
Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures
(2011-07)
Article
Open AccessThe 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” ... -
BE-AWARE: an ontology-based adaptive robotic manipulation framework
(2023)
Conference lecture
Open AccessAutonomous service robots are conceived to work in semi-structured and complex human environments performing a wide range of tasks and, hence, one of their main challenges is to be able to adapt the stages of the ... -
Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies
(2020)
Conference report
Open AccessThis paper presents an approach to perform bilateral in-hand (dexterous) telemanipulation of unknown objects. The proposed approach addresses three of the main problems in telemanipulation: \eno{kinematic issues due to the ... -
Búsqueda de caminos libres de colisiones para un sistema bimanual considerando la eliminación de obstáculos movibles
(2012)
Conference report
Restricted access - publisher's policyEste artículo aborda el problema de la planificación de movimientos de un sistema de dos manos para la sujeción un objeto con una mano utilizando la otra mano para quitar los posibles obstáculos que se encuentren en la ... -
Búsqueda de prensiones con force-closure de objetos 2D articulados con 2 eslabones
(2013)
Conference report
Restricted access - publisher's policyEste trabajo propone un procedimiento por medio del cual se puede encontrar una prensión localmente óptima en objetos articulados 2D con 2 eslabones y considerando contactos sin fricción.La superficie de cada eslabón del ... -
Cálculo de fuerzas de contacto para prensiones bimanuales
(2017)
Conference lecture
Restricted access - publisher's policyEn este artículo se presenta un método para calcular fuerzas de contacto para prensiones bimanuales. El método propuesto utiliza dos funciones de coste para optimizar la distribución de la fuerza de las manos con las que ... -
Combining motion planning and task planning for a dual-arm system
(2016)
Conference report
Open AccessThis paper deals with the problem of combining motion and task assignment for a dual-arm robotic system. Each arm of the system performs independent tasks in a cluttered environment. Robot actions are ... -
Commanding the object orientation using dexterous manipulation
(Springer, 2015)
Conference lecture
Restricted access - publisher's policyThis paper presents an approach to change the orientation of a grasped object using dexterous manipulation teleoperated in a very simple way with the commands introduced by an operator using a keyboard. The novelty of the ... -
Comparison of motion planners in an environment with removable obstacles
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference lecture
Restricted access - publisher's policyThis work deals with the problem of motion planning for a robotic system with two arms, considering the possibility of using one arm to remove potential obstacles in order to get a collision-free path to reach a desired ... -
Computación frontera: influencia de latencias en la precisión de robots
(2023)
Conference lecture
Open AccessLa computación en la frontera (edge computing) permite acceder a grandes recursos computacionales y a redes de computadores, facilitando que pequeños dispositivos con recursos limitados realicen cálculos complejos ... -
Computation of independent contact regions for grasping 3-D objects
(Institute of Electrical and Electronics Engineers (IEEE), 2009-08)
Article
Open AccessPrecision grasp synthesis has received a lot of attention in past few last years. However, real mechanical hands can hardly assure that the fingers will precisely touch the object at the computed contact points. The concept ... -
Contact force computation for bimanual grasps
(Institute of Electrical and Electronics Engineers (IEEE), 2017)
Conference report
Restricted access - publisher's policyThis paper presents a method to compute con- tact forces for bimanual grasps. The method is based on the optimization of the force distribution of the hands and min- imizing the force ... -
Contact force transitions in regrasp tasks of planar objects
(2007-07-07)
Research report
Open AccessThis paper presents a simple and fast solution to the problem of finding the time variations of the forces that keep the object equilibrium when a finger is removed from a three contact point grasp or a finger is added to ... -
Coordinación temporal de dos robots manipuladores
(2012)
Conference report
Restricted access - publisher's policyEn este artículo se presenta un método de coordinación de movimientos en tiempo real que permite que dos robots industriales equipados con manos robóticas puedan ejecutar simultáneamente tareas de manipulación de objetos ...
