• A family of quadratically-solvable 5-SPU parallel robots 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2010)
      Text en actes de congrés
      Accés obert
      A 5-SPU robot with collinear universal joints is well suited to handling an axisymmetric tool, since it has 5 controllable DoFs and the remaining one is a free rotation around the tool. The kinematics of such a robot having ...
    • Sharpening haptic inputs for teaching a manipulation skill to a robot 

      Rozo Castañeda, Leonel; Jiménez Schlegl, Pablo; Torras, Carme (2010)
      Text en actes de congrés
      Accés obert
      Gaussian mixtures-based learning algorithms are suitable strategies for trajectory learning and skill acquisition, in the context of programming by demonstration (PbD). Input streams other than visual information, as used ...
    • Slave architecture for the Robonova MR-C3024 using the HMI protocol 

      Simó Serra, Edgar; Pegueroles Queralt, Jordi (2010)
      Report de recerca
      Accés obert
      The goal of the project is to develop a new rmware for the servo control board Hitec MR- C3024 [8] to improve its speci cations. This board will be used to control the movement of a humanoid robot, driven by digital ...