Ara es mostren els items 2-20 de 20

    • Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies 

      Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl; Aldana López, Carlos Iván; Nuño, Emmanuel (2020)
      Text en actes de congrés
      Accés obert
      This paper presents an approach to perform bilateral in-hand (dexterous) telemanipulation of unknown objects. The proposed approach addresses three of the main problems in telemanipulation: \eno{kinematic issues due to the ...
    • Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays 

      Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Abstract—It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a ...
    • Bounded synchronization in resistive multi-terminal VSC-HVDC transmission systems 

      Dòria Cerezo, Arnau; Olm Miras, Josep Maria; di Bernardo, Mario; Quaglia, Massimiliano; Nuño, Emmanuel (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Multi-terminal VSC-HVDC transmission is a promising solution to transport energy from the generating plants to the distribution stations, and the number and size of the corresponding power grids is expected to increase in ...
    • Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers 

      Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis (2013-12)
      Article
      Accés restringit per política de l'editorial
      This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can ...
    • Consensus of networks of nonidentical robots with flexible joints, variable time--delays and unmeasurable velocities 

      Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy (2013)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers ...
    • Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities 

      Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy (2013)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers ...
    • Control of bilateral teleoperators in operational space without velocity measurements 

      Aldana López, Carlos Iván; Nuño, Emmanuel; Basañez Villaluenga, Luis (2013)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      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
      Accés restringit per política de l'editorial
      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
      Accés restringit per política de l'editorial
      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 ...
    • Leader-follower and leaderless consensus in networks of flexible-joint manipulators 

      Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
      Text en actes de congrés
      Accés restringit per política de l'editorial
    • Leader-follower and leaderless consensus in networks of flexible-joint manipulators 

      Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2014-09-01)
      Article
      Accés restringit per política de l'editorial
      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 ...
    • 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)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      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 ...
    • Modelling and control for bounded synchronization in multi-terminal VSC-HVDC transmission networks 

      Dòria Cerezo, Arnau; Olm Miras, Josep Maria; di Bernardo, Mario; Nuño, Emmanuel (2016-06-01)
      Article
      Accés obert
      The extension and size of the power grid is expected to increase in the near future. Managing such a system presents challenging control problems that, so far, have been approached with classical control techniques. However, ...
    • 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
      Accés restringit per política de l'editorial
      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 ...
    • Operational space consensus of multiple heterogeneous robots without velocity measurements 

      Aldana López, Carlos Iván; Nuño, Emmanuel; Basañez Villaluenga, Luis; Romero, Eduardo (2014-03-01)
      Article
      Accés restringit per política de l'editorial
      This paper proposes a control algorithm for networks of multiple heterogeneous robot manipulators, which solves the leader follower and the leaderless consensus problems in the operational space. In the leader-follower ...
    • Output-feedback control of nonlinear bilateral teleoperators 

      Sarras, Ioannis; Nuño, Emmanuel; Kinnaert, Michel; Basañez Villaluenga, Luis (Institute of Electrical and Electronics Engineers (IEEE), 2012)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      The output-feedback design problem for a bilateral teleoperator scheme is considered. The recently proposed Immersion and Invariance (I&I) observer is used to obtain an exponentially convergent estimate of the unmeasured ...
    • Position tracking in delayed bilateral teleoperators without velocity measurements 

      Sarras, Ioannis; Nuño, Emmanuel; Basañez Villaluenga, Luis; Kinnaert, Michel (2016-05-10)
      Article
      Accés obert
      This work considers the control of nonlinear bilateral teleoperators with variable time delays without the need of velocity measurements. The recently proposed Immersion and Invariance observer is used to obtain an ...
    • Stability of nonlinear teleoperators using PD controllers without velocity measurements 

      Nuño, Emmanuel; Basañez Villaluenga, Luis; Lopez Franco, Carlos; Arana Daniel, Nancy (2014-01)
      Article
      Accés restringit per política de l'editorial
      This paper presents two Proportional-Derivative (PD) like controllers for nonlinear bilateral teleoperation systems. Compared to previous controllers of this kind, these schemes do not make use of velocity measurements. ...
    • Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time-delays 

      Nuño, Emmanuel; Aldana, Carlos I.; Basañez Villaluenga, Luis (2017-06-01)
      Article
      Accés obert
      This work deals with the leader-follower and the leaderless consensus problems in networks of multiple robot manipulators. The robots are non-identical, kinematically different (heterogeneous), and their physical parameters ...