Now showing items 1-20 of 25

    • 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 ...
    • Adaptive motion planning for a mobile robot 

      Gifre Oliveras, Clara (Universitat Politècnica de Catalunya / University of Oulu, 2012)
      Master thesis (pre-Bologna period)
      Open Access
      Historically, trapezoidal velocity profiles have been widely used to control engines. Nevertheless, the evolution of robots and their uses has led to the need of using smoother profiles, due to the demand of high precision ...
    • Analysis and Prediction of Human Motion Trajectories in Urban Environments 

      Ferrer M´ınguez, Gonzalo (Universitat Politècnica de Catalunya, 2011-09)
      Master thesis
      Restricted access - author's decision
      The design and development of intelligent service mobile robots that interact with humans in daily living activities or cooperate with persons in specific tasks, requires the design of new tools that allow the understanding ...
    • Comparison of motion planners in an environment with removable obstacles 

      Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference lecture
      Restricted access - publisher's policy
      This work deals with the problem of motion planning for a robotic system with two arms, considering the possibility of using one arm to remove potential obstacles in order to get a collision-free path to reach a desired ...
    • Computing wrench-feasible paths for cable-driven hexapods 

      Bohigas, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2015)
      External research report
      Open Access
      Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack ...
    • 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 ...
    • Coordination of several robots based on temporal synchronization 

      Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2016-12-01)
      Article
      Open Access
      This paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can ...
    • Distance-based kernels for dynamical movement primitives 

      Escudero Rodrigo, Diego; Alquézar Mancho, René (IOS Press, 2015)
      Conference report
      Open Access
      In the Anchoring Problem actions and objects must be anchored to symbols; and movement primitives as DMPs seems a good option to describe actions. In the bottom-up approach to anchoring, the recognition of an action is ...
    • Estudi, disseny i implementació d’un humanoide pel seguiment de trajectòries 

      Pey Comas, Ferriol (Universitat Politècnica de Catalunya, 2019-06-10)
      Bachelor thesis
      Open Access
      Els humanoides són robots que posseeixen una configuració similar a la morfologia humana, és a dir, que consten d’un cap, un tronc, dos braços i dues cames (en certs casos els humanoides poden simular-ne sols una ...
    • Experimental stiffness identification in the joints of a lightweight robot 

      Testa, Giuseppe (Universitat Politècnica de Catalunya, 2017-06-15)
      Bachelor thesis
      Open Access
      The estimation of stiffness parameters of a robot is of paramount importance for the precision of movement, in fact in the last year the application of robots is justified by many factors, one of these factors is the high ...
    • Fast on-line determination of quasi-optimal grasp configurations based on off-line analysis and parametrization of the wrist position 

      Färber, Gerrit Hartmut; Suárez Feijóo, Raúl (2005-01)
      External research report
      Open Access
      Determining the optimum configuration of a mechanical hand in order to grasp an object is a computational hard work, mainly due to the large number of degrees of freedom (fingers and wrist), the existence of a large number ...
    • HG-RRT*: Human-Guided Optimal Random Trees for Motion Planning 

      García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference lecture
      Restricted access - publisher's policy
      The paper deals with the problem of designing an RRT*-based planning algorithm that allows the user to guide the tree growth in a simple and transparent way. The key idea of the proposal is to create a planning algorithm, ...
    • Mesures de proximitat a les singularitats d'un robot amb ndexos de rendiment vectorial 

      Elizalde Masiá, Borja (Universitat Politècnica de Catalunya, 2013-07)
      Master thesis (pre-Bologna period)
      Open Access
      Les con guracions singulars dels robots s on situacions complicades de predir i de localitzar de manera anticipada i, en general, associades a un mal comportament, tot i que tamb e s'apro ta el factor d'ampli caci o que ...
    • Millora de la precisió en l'estudi del moviment humà a partir de les dades del Kinect 

      Fernández Membrives, Jonatan (Universitat Politècnica de Catalunya, 2014-06-27)
      Bachelor thesis
      Open Access
      [CATALÀ] L'objectiu d'aquest projecte és la millora de les dades resultants de les captures del dispositiu Kinect, més concretament les obtingudes representant el cos humà. El propòsit principal és fer l'eina més precisa ...
    • 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
    • Motion planning for high DOF anthropomorphic hands 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; García, Jorge Alberto; Pérez Ruiz, Alexander (IEEE, 2009-05-31)
      Conference report
      Open Access
      The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search ...
    • Motion planning using first-order synergies 

      García Hidalgo, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference lecture
      Restricted access - publisher's policy
      This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees of freedom, extending it to the velocity space and calling them first-order synergies. An automatic ...
    • Multi-objective cost-to-go functions on robot navigation in dynamic environments 

      Ferrer Mínguez, Gonzalo; Sanfeliu Cortés, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Restricted access - publisher's policy
      In our previous work [1] we introduced the Anticipative Kinodynamic Planning (AKP): a robot navigation algorithm in dynamic urban environments that seeks to minimize its disruption to nearby pedestrians. In the present ...
    • Planning grasping motions for humanoid robots 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; García, Néstor; Ud Din, Muhayy (2019-12-15)
      Article
      Restricted access - publisher's policy
      This paper addresses the problem of obtaining the required motions for a humanoid robot to perform grasp actions trying to mimic the coordinated hand–arm movements humans do. The first step is the data acquisition and ...
    • POMDP approach to robotic sorting and manipulation of deformable objects 

      Monsó Purtí, Pol (Universitat Politècnica de Catalunya, 2011-09-05)
      Master thesis
      Open Access
      English: The object manipulation with robots has mainly relied on precise, expensive models and deterministic executions. Given the great complexity of modeling deformable objects accurately, their manipulation remains ...