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    • Coordination of several robots based on temporal synchronization 

      Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2016-12-01)
      Article
      Accés obert
      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)
      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 ...

    • Determination of independent contact regions on discretized 3D objects 

      Roa Garzón, Máximo; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers, 2007-07)
      Text en actes de congrés
      Accés obert
      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)
      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 ...

    • Determining force-closure grasps reachable by a given hand 

      Gilart, Fidel; Suárez Feijóo, Raúl (2012)
      Text en actes de congrés
      Accés obert
      The paper presents an approach to find contact points on an object surface that are reachable by a given hand and such that the resulting grasp satisfies the force-closure condition. This is a very common problem that still ...

    • Determining independent contacts regions to immobilize 2D articulated objects 

      Alvarado, Noe; Suárez Feijóo, Raúl; Roa, Máximo (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a forceclosure (FC) immobilization, independently of the ...

    • Development of a dexterous dual-arm omnidirectional mobile manipulator 

      Suárez Feijóo, Raúl; Palomo Avellaneda, Leopold; Martínez Miralles, Jordi Ramon; Clos Costa, Daniel; García Hidalgo, Néstor (2018-01-01)
      Article
      Accés restringit per política de l'editorial
      This paper presents an experimental mobile manipulator composed of a dual-arm torso with a human-like structure assembled on an omnidirectional platform. The dual-arm system integrates several commercial devices: two arms ...

    • Dexterous manipulation of unknown objects using virtual contact points 

      Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (MDPI AG, 2019-10-12)
      Article
      Accés obert
      The manipulation of unknown objects is a problem of special interest in robotics since it is not always possible to have exact models of the objects with which the robot interacts. This paper presents a simple strategy to ...

    • Diseño de una prótesis de mano adaptable al crecimiento 

      Ayats, Marta; Suárez Feijóo, Raúl (2017)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      En este artículo se presenta el diseño de una prótesis de mano que se adapta al crecimiento del usuario, desde los 4 años hasta la edad adulta. Se ha considerado en el diseño el estudio de las necesidades de los pacientes ...

    • Dual-arm dexterous mobile manipulator with new omnidirectional wheels manipulador móvil, bibrazo y diestro con nuevas ruedas omnidireccionales 

      Suárez Feijóo, Raúl; Palomo Avellaneda, Leopold; Martínez Miralles, Jordi Ramon; Clos Costa, Daniel; García, Nestor (2020-01-01)
      Article
      Accés obert
      Este artículo describe un manipulador móvil, bimanual y con capacidad de manipulación diestra denominado MADAR (de Mobile Anthropomorphic Dual-Arm Robot). Básicamente puede dividirse en dos partes, una base móvil y una ...

    • Dual-arm framework for cooperative applications 

      Rodríguez Pacheco, Carlos; Rojas de Silva Gonzalez, Francisco Abiud; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      This paper presents a framework schema that allows to bring simulation results obtained from different dual-arm robotic applications to executions in real environments. The framework uses the Robot Operating System (ROS) ...

    • Edge computing in autonomous and collaborative assembly lines 

      Urbaniak, Dominik; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Text en actes de congrés
      Accés obert
      Industry 4.0 demands interconnected production lines that consist of modular assets. Recent advances of wireless communication technologies allow a large connectivity of devices and approach the performance of wireline ...

    • Editorial: current challenges and future developments in robot grasping 

      Morales, Antonio; Leon, Beatriz; Chillenato, Eris; Suárez Feijóo, Raúl (Frontiers Media SA, 2022-07-11)
      Article
      Accés obert

    • Efficient and practical determination of grasping con gurations for anthropomorphic hands 

      Claret Robert, Josep Arnau; Suárez Feijóo, Raúl (2011)
      Text en actes de congrés
      Accés obert
      The paper presents a methodology to rapidly solve the inverse kinematics of anthropomorphic hands, which is particularized for a mechanical hand considering 27 degrees of freedom. Given the contact points and normal ...

    • Efficient and robust trajectory generation for robotic manipulators 

      Ruiz Celada, Oriol; Palomo Avellaneda, Leopold; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Comunicació de congrés
      Accés obert
      This paper describes a procedure to generate valid robot trajectories for a given sequence of points defining a geometric path, which is a quite frequent output of many robot motion planners. The proposed approach takes ...

    • Efficient determination of four-point form-closure optimal constraints of polygonal objects 

      Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (2009-01)
      Article
      Accés obert
      This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions ...

    • Efficient Industrial Solution for Robotic Task Sequencing Problem With Mutual Collision Avoidance & Cycle Time Optimization 

      Touzani, Hicham; Seguy, Nicolas; Suárez Feijóo, Raúl; Hadj Abdelkader, Hicham; Rosell Gratacòs, Jan; Palomo Avellaneda, Leopold; Bouchafa, Samia (Institute of Electrical and Electronics Engineers (IEEE), 2022-04)
      Article
      Accés obert
      In the automotive industry, several robots are required to simultaneously carry out welding sequences on the same vehicle. Coordinating and assigning welding points between robots is a manual and difficult phase that needs ...

    • 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 ...

    • Esquema de integración para experimentación real con sistemas robóticos bi-brazo 

      Rojas de Silva Gonzalez, Francisco Abiud; Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (Comité Español de Automática (CEA-IFAC), 2016)
      Comunicació de congrés
      Accés obert
      En este art culo se presenta un esquema para la integraci on de un sistema rob otico bi-brazo, para transformar resultados obtenidos de simulaciones en ejecuciones en un entornos real. Este esquema utiliza una capa de ...