Now showing items 1-20 of 100

  • 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)
    Conference report
    Open Access
    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 on-line coordination algorithm for multi-robot systems 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2013)
    Conference report
    Restricted access - publisher's policy
    This 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 ...
  • Aplicación de algoritmos RRT en la planificación de movimientos óptimos en robótica 

    García, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (2017)
    Conference lecture
    Restricted access - publisher's policy
    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 ...
  • Application of genetic algorithms to assembly sequence planning with limited resources 

    Bautista Valhondo, Joaquín; Lusa García, Amaia; Suárez Feijóo, Raúl; Mateo Doll, Manuel; Pastor Moreno, Rafael; Corominas Subias, Albert (IEEE Computer Society Conference Publishing Services (CPS), 1999-07-24)
    Part of book or chapter of book
    Restricted access - publisher's policy
    Heuristic 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 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2019-07-01)
    Article
    Open Access
    La 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 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; Pérez, Alexander (2011-07)
    Article
    Open Access
    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” ...
  • Búsqueda de caminos libres de colisiones para un sistema bimanual considerando la eliminación de obstáculos movibles 

    Rodríguez Pacheco, Carlos; Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2012)
    Conference report
    Restricted access - publisher's policy
    Este 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 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (2013)
    Conference report
    Restricted access - publisher's policy
    Este 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 

    Rojas-de-Silva, Abiud; Suárez Feijóo, Raúl (2017)
    Conference lecture
    Restricted access - publisher's policy
    En 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 

    Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (2016)
    Conference report
    Open Access
    This 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 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Springer, 2015)
    Conference lecture
    Restricted access - publisher's policy
    This 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 

    Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This 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 ...
  • Computation of independent contact regions for grasping 3-D objects 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2009-08)
    Article
    Open Access
    Precision 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 

    Rojas de Silva Gonzalez, Francisco Abiud; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Conference report
    Restricted access - publisher's policy
    This 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 

    Grosch Obregon, Patrick John; Suárez Feijóo, Raúl; Carloni, Raffaella; Melchiorri, Claudio (2007-07-07)
    External research report
    Open Access
    This 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 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2012)
    Conference report
    Restricted access - publisher's policy
    En 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 ...
  • Coordination of several robots based on temporal synchronization 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2016-12-01)
    Article
    Open Access
    This paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can ...
  • cRRT*: Planning loosely-coupled motions for multiple mobile robots 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    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 ...
  • Determination of independent contact regions on discretized 3D objects 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers, 2007-07)
    Conference report
    Open Access
    This paper deals with the problem of determining independent contact regions on a 3D object boundary such that a seven finger frictionless grasp with a contact point in each region assures a force-closure grasp on the ...
  • Determination of seven frictionless fixturing points searching the object surface with a homogeneous deterministic distribution 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2007-02)
    External research report
    Open Access
    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 ...