Now showing items 21-40 of 51

  • Experimental platform for a robotic hand-arm system 

    Fortín Villegas, Jose Antonio (Universitat Politècnica de Catalunya, 2010-06)
    Master thesis
    Restricted access - author's decision
    Software development in robotics is a complex task due to the existing heterogeneity in terms of hardware, communications and programming languages that are used in modern robotic systems. The lack of standardization in ...
  • Fast and flexible determination of force-closure independent regions to grasp polygonal objects 

    Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (2005-01)
    External research report
    Open Access
    Force-closure independent regions are parts of the object edges such that a grasp with a finger in each region ensures a force-closure grasp. These regions are useful to provide some robustness to the grasp in the presence ...
  • Grasp analysis and synthesis of 2D articulated objects with n links 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (2015-02-01)
    Article
    Open Access
    This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set ...
  • Grasp quality measures: review and performance 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2015-01-01)
    Article
    Open Access
    The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand ...
  • Grasp synthesis of 3D articulated objects with n links 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Conference report
    Restricted access - publisher's policy
    This paper addresses the problem of grasp synthesis with force-closure for 3D articulated objects consisting of n links and considering frictional and non-frictional contacts. The surface of each link is represented by a ...
  • Gripper design and development for a modular robot 

    Gil Fuster, Annna Maria (Universitat Politècnica de Catalunya / Danmarks Tekniske Universitet, 2015-06)
    Bachelor thesis
    Open Access
    Covenantee:  Danmarks tekniske universitet
    Since the humanity was born, hands have been the most essential parts of the body for our interaction with the environment. It would make no sense to receive a huge amount of information through the senses and processing ...
  • Herramienta para visualización gráfica de fuerzas de contacto y de movimientos de una mano robótica con sensores táctiles 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2019)
    Conference lecture
    Open Access
    En este trabajo se presenta una herramienta de software que permite la visualización gráfica de fuerzas de contacto de especial utilidad en prensiones usando manos robóticas. Las fuerzas visualizadas se generan debido ...
  • Hybrid mapping for the assistance of teleoperated grasping tasks 

    Colasanto, Luca; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2013-03)
    Article
    Open Access
    Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a ...
  • Independent contact regions for discretized 3D objects with frictionless contacts 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2007-03)
    External research 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 ...
  • Integrated grasp and motion planning using independent contact regions 

    Fontanals, Joan; Dang-Vu, Bao-Anh; Roa, Máximo Alejandro; Rosell Gratacòs, Jan; Porges, Oliver (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    Traditionally, grasp and arm motion planning are considered as separate tasks. This paper presents an integrated approach that only requires the initial configuration of the robotic arm and the pose of the target object ...
  • Kinematic Model of the Hand using Computer Vision 

    Simó Serra, Edgar (Universitat Politècnica de Catalunya, 2011-04)
    Master thesis (pre-Bologna period)
    Open Access
    La biotecnología es una ciencia en auge y en especial el diseño de interfaces humano-máquina. El objetivo de este proyecto es avanzar en dicho campo y en concreto explorar el diseño de exoesqueletos y prótesis de la mano ...
  • Manipulación de objetos con dos dedos usando información táctil 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2013)
    Conference report
    Restricted access - publisher's policy
    La integraci on de sensores t actiles en manos rob oticas contribuye de forma importante a la creaci on de robots aut onomos capaces de interactuar con su entorno y manipular diferentes tipos de objetos, de los cuales ...
  • Manipulación diestra de objetos desconocidos usando puntos de contacto virtuales 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2019)
    Conference report
    Open Access
    En este trabajo se presenta una estrategia de manipulación que permite rotar objetos desconocidos usando una mano robótica equipada con sensores táctiles. Las configuraciones de la mano que permiten cambiar la posición ...
  • Manipulation tasks with a dual arm system including obstacles removing 

    Rodríguez Pacheco, Carlos; Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2013)
    Conference report
    Open Access
    The paper deals with the problem of planning movements of a two-hand system, considering the possibility of using one hand to remove potential obstacles in order to grasp a desired object with the other hand. The approach ...
  • Model-free in-hand manipulation based on commanded virtual contact points 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference report
    Restricted access - publisher's policy
    This paper presents a simple strategy to allow therotation of unknown objects using a robotic hand equipped withtactile sensors. The tactile and kinematic information, obtainedwhile that the object ...
  • Moving objects and removing obstacles with two robotic hands 

    Rodr guez Pacheco, Carlos Arturo (Universitat Politècnica de Catalunya, 2012-09)
    Master thesis
    Open Access
    This work deals with the problem of planning the movements of a two-hand system in order to grasp an object with one hand and using the other to remove potential obstacles. The approach is based on a Probabilistic Road ...
  • Object manipulation with two robotic fingers using tactile information 

    Karakatsani, Doukeni (Universitat Politècnica de Catalunya, 2011-09)
    Master thesis
    Open Access
    The integration of tactile sensors in dexterous robotic hands contributes greatly to creating autonomous robots capable of interacting with their environment and manipulating various types of objects. The shape of these ...
  • Object shape reconstruction based on the object manipulation 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2013)
    Conference report
    Restricted access - publisher's policy
    This paper presents an approach for the object shape reconstruction based on the object manipulation using tactile information and force feedback. The tactile information collected during the manipulation process and the ...
  • On the synthesis of feasible and prehensile robotic grasps 

    Rosales Gallegos, Carlos; Suárez Feijóo, Raúl; Gabiccini, Marco; Bicchi, Antonio (IEEE, 2012)
    Conference report
    Open Access
    This work proposes a solution to the grasp synthesis problem, which consist of finding the best hand configuration to grasp a given object for a specific manipulation task while satisfying all the necessary constraints. ...
  • Path planning for grasping operations using an adaptive PCA-based sampling method 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Pérez Ruiz, Alexander (2013-07-01)
    Article
    Open Access
    The planning of collision-free paths for a handarm robotic system is a difficult issue due to the large number of degrees of freedom involved and the cluttered environment usually encountered near grasping configurations. ...