Browsing by Author "Basañez Villaluenga, Luis"
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Control of bilateral teleoperators in operational space without velocity measurements
Aldana López, Carlos Iván; Nuño, Emmanuel; Basañez Villaluenga, Luis (2013)
Conference report
Restricted access - publisher's policyThis paper proposes a proportional plus damping injection (P + d) controller for bilateral teleoperators in the operational space. Unit quaternions are used to describe the endeffectors’ orientation since they exhibit the ... -
Control of teleoperators with joint flexibility, uncertain parameters and time-delays
Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (2014)
Article
Restricted access - publisher's policyThe problem of controlling a rigid bilateral teleoperator has been the subject of study since the late 1980s and several control approaches have been reported to deal with time-delays, position tracking and transparency. ... -
Coordination of multi-agent Euler-Lagrange systems via energy-shaping: Networking improves robustness
Nuño, Emmanuel; Ortega, Romeo; Jayawardhana, Bayu; Basañez Villaluenga, Luis (2013-10-01)
Article
Restricted access - publisher's policyIn this paper, the robust coordination of multi-agent systems via energy-shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters which are regulated (with and without exchange of ... -
Coordination of multi-agent systems via energy–shaping: networking improves robustness
Nuño Ortega, Emmanuel; Ortega, Romeo; Jayawardhana, Bayu; Basañez Villaluenga, Luis (2012)
Conference lecture
Restricted access - publisher's policyIn this paper the problem of robust coordination of multi–agent systems via energy–shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters. The control objective is to drive all ... -
DAE Methods in Constrained Robotic System Simulation:
Costa Castelló, Ramon; Griñó Cubero, Robert; Basañez Villaluenga, Luis (Centro de Investigación en Computación, 1998-03)
Article
Open AccessIn this paper a DAE formulation is used to model the behaviour of constrained robotic systems. This formulation allows to specify in an easy and clear way the constrained behaviour of a robotic system. In order to better ... -
Description of a robotics-oriented relational positioning methodology
Rodríguez Tsouroukdissian, Adolfo; Basañez Villaluenga, Luis; Celaya Llover, Enric (2007-09)
Research report
Open AccessThis paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, as well as for assisting the execution of teleoperated tasks demanding precise movements. In ... -
Erratum to ‘‘An adaptive controller for nonlinear teleoperators"
Nuño Ortega, Emmanuel; Ortega, Romeo; Basañez Villaluenga, Luis (2011-05-01)
Article
Restricted access - publisher's policy -
Exploiting the robot kinematic redundancy for emotion conveyance to humans as a lower priority task
Claret Robert, Josep Arnau; Venture, Gentiane; Basañez Villaluenga, Luis (2017-01-17)
Article
Open AccessCurrent approaches do not allow robots to execute a task and simultaneously convey emotions to users using their body motions. This paper explores the capabilities of the Jacobian null space of a humanoid robot to convey ... -
From Graphical Task Specification to Automatic Programming of Robotic Polishhing Systems
Basañez Villaluenga, Luis; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2005-09)
Article
Open Access -
Haptic guidance with force feedback to assist teleoperation systems via high speed networks
Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (VDI Verlag, 2006-05)
Conference report
Open AccessThe employment of haptic devices in teleoperation systems and the use of motion restrictions during robot teleoperation provide the operator with increased awareness and can considerably improve the feeling of immersion ... -
Internet2: características, estado del arte y perspectivas futuras
Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (2004-04)
Research report
Open AccessEl objetivo fundamental de este trabajo es dar a conocer el estado del arte de Internet 2, diferencias con Internet, proyectos internacionales basados en Internet 2, así como una descripción detallada de su funcionamiento. -
L'Institut de Cibernètica: organització i línies de recerca
Ferraté Pascual, G.; Basañez Villaluenga, Luis (Universitat Politècnica de Barcelona, 1980-12)
Conference report
Open AccessAquest treball vol ésser una breu presentació de l'Institut de Cibernètica i de la seva tasca de recerca. A la primera part s'exposen eIs antecedents sobre els inicis i creació de l'Institut, els seus objectius i la seva ... -
Leader-follower and leaderless consensus in networks of flexible-joint manipulators
Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
Conference report
Restricted access - publisher's policy -
Leader-follower and leaderless consensus in networks of flexible-joint manipulators
Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2014-09-01)
Article
Restricted access - publisher's policyThis work presents some first results on the consensus for networks of nonlinear under-actuated mechanical systems without assuming that the gravity effects are negligible or locally pre-compensated. In particular, the ... -
Microsoft Kinect
Basañez Villaluenga, Luis; Beltrán Guerrero, Diana (2014-07-15)
Research report
Open Access -
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 policyIn 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 ... -
Modeling non-linear viscoelastic behavior under large deformations
del Castillo Pérez, Esteban; Basañez Villaluenga, Luis; Gil Dolcet, Ernest (2013-12)
Article
Restricted access - confidentiality agreementThis paper addresses the accurate modeling of the behavior of a thin layer of natural rubber subjected to large deformations. Such a system presents a non-linear viscoelastic behavior similar to many biological soft tissues. ... -
Modelización y filtrado de secuencias de imágenes perturbadas por ruido blanco gaussiano
Basañez Villaluenga, Luis; Brunet Crosa, Pere (Asociación Española de Informática y Automática (AEIA), 1979)
Conference report
Open AccessLa restauración de imágenes perturbadas por ruido constituye un tema de gran interés y actualidad por su amplio campo de aplicaciones en áreas que van desde la bioingeniería hasta la robótica industrial. Para la ... -
Modelo cinemático de la interfase háptica PHANTnOM Premium 1.5/6DOF
Rodríguez Tsouroukdissian, Adolfo; Basañez Villaluenga, Luis (2005-02)
Research report
Open AccessEn el presente reporte se deriva de la cinemática directa e inversa, así como el Jacobiano de la interfase háptica PHANTOM Premium 1.5/6DOF -
Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements
Nuño, Emmanuel; Ortega, Romeo; Jayawardhana, Bayu; Basañez Villaluenga, Luis (2013-12)
Article
Restricted access - publisher's policyThis paper studies the robustness in the coordination - via energy-shaping - of multiple nonidentical flexible-joint robots with only joint position measurements. The control objective is to drive all manipulators link ...