Browsing by Subject "Robots -- Control systems"

Now showing items 1-20 of 75

    • A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms 

      Grosch Obregon, Patrick John; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2013)
      Conference report
      Open Access
      This paper deals with the motion planning problem for parallel orienting platforms with one non-holonomic joint and two prismatic actuators which can maneuver to reach any three-degree-of-freedom pose of the moving platform. ...

    • A Fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot 

      Stancu, Alexandru; Codres, Eduard; Puig Cayuela, Vicenç (IEEE Press, 2016)
      Conference report
      Open Access
      When mobile robots are intended to be used in hazardous environments or for long-time operations, it is needed to increase their robustness against faults. This could be achieved by means of the inclusion of Fault Tolerant ...

    • A general method for the numerical computation of manipulator singularity sets 

      Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2014)
      Article
      Open Access
      The analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of ...

    • A multi-robot cooperation strategy for dexterous task oriented teleoperation 

      Hernansanz Prats, Alberto; Casals Gelpí, Alicia; Amat Girbau, Josep (2015-06-01)
      Article
      Open Access
      The use of multiple robots working cooperatively in a redundant way offers new possibilities in the execution of complex tasks in dynamic workspaces. The aim of this work is to increase the range of applicability of ...

    • A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation 

      Sandoval, Francisco; Caltagirone, Carlo; Annicchiarico, Roberta; Cortés García, Claudio Ulises; Urdiales García, Cristina; Peula, José Ma.; Fernández-Carmona, Manuel; Barrué Subirana, Cristian; Pérez, Eduardo J.; Sánchez-Tato, Isabel; del Toro, J.C.; Galluppi, F. (2011-02-01)
      Article
      Restricted access - publisher's policy
      In todays aging society, many people require mobility assistance, that can be provided by robotized assistive wheelchairs with a certain degree of autonomy when manual control is unfeasible due to disability. Robot ...

    • A secure JXTA-overlay platform for robot control 

      Spaho, Evjola; Matsuo, Keita; Barolli, Leonard; Arnedo Moreno, Joan; Xhafa Xhafa, Fatos; Kolici, Vladi (Institute of Electrical and Electronics Engineers (IEEE), 2010)
      Conference report
      Open Access
      Due to the improvement of connections capabilities of end-devices there is an increasing interest to design and implement full featured P2P networks that integrate end-devices. In this paper, we use JXTA-Overlay for the ...

    • An open-source control architecture for teleoperated underwater legged robots 

      Picardi, Giacomo; Carandell Widmer, Matias; Nogueras Cervera, Marc; Toma, Daniel; Río Fernández, Joaquín del; Aguzzi, Jacopo (SARTI, 2024)
      Article
      Open Access
      Legged robots have achieved unprecedented performance in the terrestrial environment. The capability of legged agents to harness the contacts with the ground for locomotion, adapt their gait to negotiate regular terrains, ...

    • Análisis del rendimiento de un sistema robótico de control en red basado en simulación 

      Paillacho Chiluiza, Dennys Fabian (Universitat Politècnica de Catalunya, 2010-06)
      Master thesis
      Open Access
      Debido a la dificultad de evaluar el rendimiento global de un sistema robótico de control en red de manera analítica, el presente trabajo trata el análisis del comportamiento de un sistema robótico de control en red, tanto ...

    • Application of JXTA-overlay platform for secure robot control 

      Spaho, Evjola; Matsuo, Keita; Barolli, Leonard; Xhafa Xhafa, Fatos; Arnedo Moreno, Joan; Kolici, Vladi (2010)
      Article
      Open Access
      In this paper, we present the evaluation and experimental results of secured robot control in a P2P system. The control system is based on JXTA-Overlay platform. We used secure primitives and functions of JXTA-Overlay for ...

    • Automated depth dataset generation with integrated quality metrics for robotic manipulation 

      Dalmases, Albert; Ruiz Celada, Oriol; Rosell Gratacòs, Jan; Zaplana Agut, Isiah (2023)
      Conference report
      Open Access
      This work introduces a fully automatic and adaptable pipeline for synthetic depth dataset generation that later on can be used for the training of deep learning algorithms for robotic manipulation. From any available set ...

    • Automatic Email Management using RPA (Robotic Process Automation) and AI (Artificial Intelligence) 

      Olivella Farell, Telm (Universitat Politècnica de Catalunya, 2019-01)
      Bachelor thesis
      Restricted access - confidentiality agreement

    • Batch gating for data association in monocular SLAM 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (Trans Tech Publications, 2013-05-27)
      Article
      Restricted access - publisher's policy
      This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) ...

    • Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays 

      Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
      Conference report
      Restricted access - publisher's policy
      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 ...

    • Centro de mecanizado robotizado Schunk 

      Armayones Ordoñez, Adrian (Universitat Politècnica de Catalunya, 2016)
      Bachelor thesis
      Open Access
      En aquest projecte es dissenya i programa una cèl·lula de mecanitzat robotitzat. La cèl·lula integra un robot central que interactua amb diferents estacions de treball. La finalitat del projecte és que el client amb la ...

    • Combining motion planning and task planning for a dual-arm system 

      Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (2016)
      Conference report
      Open Access
      This paper deals with the problem of combining motion and task assignment for a dual-arm robotic system. Each arm of the system performs independent tasks in a cluttered environment. Robot actions are ...

    • Competició remota supervisada de robots mòbils 

      Català Antúnez, Albert (Universitat Politècnica de Catalunya, 2007-06-25)
      Master thesis (pre-Bologna period)
      Open Access

    • Concurrent initialization for Bearing-Only SLAM 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2010-03-01)
      Article
      Open Access
      Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. ...

    • 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)
      Conference report
      Restricted access - publisher's policy
      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 ...

    • Construcción de un micro brazo articulado: parte electrónica 

      Estévez Afonso, Francisco Javier (Universitat Politècnica de Catalunya, 2016-09-05)
      Bachelor thesis
      Open Access
      Este proyecto tiene como objeto de estudio un micro brazo robótico basado en una paletizadora de la empresa ABB. El estudio describe el proceso de diseño e implementación de la electrónica necesaria para su correcto control ...

    • Control de movimiento para robot cuadrúpedo con técnicas de deep learning 

      Colom Rodríguez, Javier (Universitat Politècnica de Catalunya, 2023-10-17)
      Bachelor thesis
      Open Access
      El aprendizaje automático (machine learning) es una tecnología emergente que actualmente está experimentando un auge muy significativo. Es por eso interesante profundizar en un campo de la computación con tanto potencial ...