Now showing items 21-40 of 54

    • 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 policy
      This 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 policy
      The 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 policy
      In 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 policy
      In 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 Access
      In 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)
      External research report
      Open Access
      This 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 Access
      Current 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 Access
      The 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)
      External research report
      Open Access
      El 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.
    • 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 policy
      This 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 ...
    • 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
    • Microsoft Kinect 

      Basañez Villaluenga, Luis; Beltrán Guerrero, Diana (2014-07-15)
      External 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 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 ...
    • Modeling non-linear viscoelastic behavior under large deformations 

      del Castillo Pérez, Esteban; Basañez Villaluenga, Luis; Gil Dolcet, Ernest (2013-12)
      Article
      Restricted access - confidentiality agreement
      This 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 Access
      La 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)
      External research report
      Open Access
      En 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 policy
      This 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 ...
    • Nonlinear control and geometric constraint enforcement for teleoperated task execution 

      Rodríguez Tsouroukdissian, Adolfo; Nuño Ortega, Emmanuel; Palomo Avellaneda, Leopold; Basañez Villaluenga, Luis (2010)
      Conference report
      Restricted access - publisher's policy
      This work presents a multimodal teleoperation framework that makes use of novel tools and techniques, such as: nonlinear teleoperators control, for ensuring position tracking in the presence of variable time-delays; ...