Now showing items 1-18 of 18

  • 6-D manipulation with aerial towed-cable system 

    Manubens Ferriol, Montserrat; Devaurs, Didier; Cortés, Juan; Ros Giralt, Lluís (2013)
    Conference report
    Open Access
    We propose a new approach for the reliable 6-dimensional quasi-static manipulation of an aerial towed-cable system. The novelty of this approach lies in the combination of results deriving from the static analysis of ...
  • A distance geometry approach to the singularity analysis of 3R robots 

    Thomas, Federico (ASME PRESS, 2015)
    Article
    Restricted access - publisher's policy
    This paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective ...
  • A motion planning approach to 6-D manipulation with aerial towed-cable systems 

    Manubens Ferriol, Montserrat; Devaurs, Didier; Ros Giralt, Lluís; Cortés, Juan (2013)
    Conference report
    Open Access
    We propose a new approach for the reliable 6-dimensional quasi-static manipulation with aerial towed- cable systems. The novelty of this approach lies in the combination of results deriving from the static analysis of ...
  • Approaching dual quaternions from matrix algebra 

    Thomas, Federico (2014)
    Article
    Open Access
    Dual quaternions give a neat and succinct way to encapsulate both translations and rotations into a unified representation that can easily be concatenated and interpolated. Unfortunately, the combination of quaternions and ...
  • A robust forward kinematics analysis of 3-RPR planar platforms 

    Rojas Libreros, Nicolás Enrique; Thomas, Federico (Springer Verlag, 2010)
    Conference report
    Open Access
    The standard forward kinematics analysis of 3-RPR planar parallel platforms boils down to computing the roots of a sextic polynomial. There are many different ways to obtain this polynomial but all of them include exceptions ...
  • Closed-form solution to the position analysis of Watt–Baranov trusses using the bilateration method 

    Rojas Libreros, Nicolás Enrique; Thomas, Federico (ASME PRESS, 2011)
    Article
    Restricted access - publisher's policy
    The exact position analysis of a planar mechanism reduces to compute the roots of its characteristic polynomial. Obtaining this polynomial almost invariably involves, as a first step, obtaining a system of equations derived ...
  • Design of a robotic hand and simple EMG input controller with a biologically-inspired parallel actuation system for prosthetic applications 

    Crawford, Anthony; Molitor, Jeffrey; Pérez Gracia, Alba; Chiu, Steve (2010)
    Conference report
    Open Access
    This paper presents the mechatronic design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the ...
  • Efficient and practical determination of grasping con gurations for anthropomorphic hands 

    Claret Robert, Josep Arnau; Suárez Feijóo, Raúl (2011)
    Conference report
    Open Access
    The paper presents a methodology to rapidly solve the inverse kinematics of anthropomorphic hands, which is particularized for a mechanical hand considering 27 degrees of freedom. Given the contact points and normal ...
  • Geometric path planning without maneuvers for nonholonomic parallel orienting robots 

    Grosch Obregon, Patrick John; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2016-07)
    Article
    Open Access
    Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind ...
  • IK-FA, a new heuristic inverse kinematics solver using firefly algorithm 

    Rokbani, Nizar; Casals Gelpi, Alicia; Alimi, Adel M. (Springer, 2015-11-27)
    Part of book or chapter of book
    Open Access
    In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics. The proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of ...
  • JXTA-overlay P2P platform and its application for robot control 

    Ogata, Yuichi; Spaho, Evjola; Matsuo, Keita; Barolli, Leonard; Arnedo Moreno, Joan; Xhafa Xhafa, Fatos (Institute of Electrical and Electronics Engineers (IEEE), 2010)
    Conference report
    Open Access
    The design of an efficient collaborative multirobot framework that ensures the autonomy and the individual requirements of the involved robots is a very challenging task. This requires designing an efficient platform for ...
  • 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
  • Planificación de movimientos para conjuntos mano-brazo con numerosos grados de libertad 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
    Conference report
    Open Access
    Con el objetivo de avanzar hacia la emulaci ´on de las capacidades y destreza de la mano humana se est ´an desarrollando manos rob´oticas con prestaciones muy superiores a las tradicionales pinzas usadas en la rob´otica ...
  • Teleoperación de manos antropomorfas 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan; Colasanto, Luca (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
    Conference report
    Open Access
    Un escenario ideal para la teleoperaci´on de manos antropomorfas es que el operador humano pueda realizar una determinada operaci´on con sus propias manos y el sistema rob´otico teleoperado provisto de una mano antropomorfa ...
  • The forward kinematics of 3-RPR planar robots: a review and a distance-based formulation 

    Rojas Libreros, Nicolás Enrique; Thomas, Federico (2011)
    Article
    Open Access
    The standard forward kinematics analysis of 3-RPR planar parallel robots boils down to computing the roots of a sextic polynomial. There are many different ways to obtain this polynomial but most of them include exceptions ...
  • The univariate closure conditions of all fully parallel planar robots derived from a single polynomial 

    Rojas Libreros, Nicolás Enrique; Thomas, Federico (2013)
    Article
    Open Access
    The real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots ...
  • The univariate closure conditions of all fully parallel planar robots derived from a single polynomial 

    Rojas Libreros, Nicolás Enrique; Thomas, Federico (2013)
    Article
    Open Access
    The real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots ...
  • Using symmetries in reinforcement learning of bimanual robotic tasks 

    Amadio, Fabio (Universitat Politècnica de Catalunya, 2018-06-21)
    Master thesis
    Open Access
    The learning of bimanual robotic tasks, i.e., tasks executed by two manipulators together, can be particularly important in the new scenarios opened by the rise of humanoid robotics, one of the most interesting trend ...