Now showing items 1-20 of 36

    • 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 ...
    • Biologically inspired turn control for autonomous mobile robots 

      Perez-Sala, Xavier; Angulo Bahón, Cecilio; Escalera, Sergio (IOS Press, 2011)
      Conference report
      Restricted access - publisher's policy
      An exportable and robust system for turn control using only camera images is proposed for path execution in robot navigation. Robot motion information is extracted in the form of optical flow from SURF robust descriptors ...
    • 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 ...
    • Control de movimiento mediante ondas cerebrales empleando Arduino 

      Acosta Rodriguez, David (Universitat Politècnica de Catalunya, 2016-10-12)
      Bachelor thesis
      Restricted access - author's decision
    • 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 ...
    • Diseño mecánico de un brazo robótico para aplicaciones docentes 

      Llauger Roca, Ricard (Universitat Politècnica de Catalunya, 2017-05)
      Bachelor thesis
      Restricted access - author's decision
      Este proyecto de fin de grado consiste en el diseño y construcción de un brazo robot articulado y la realización del control. El robot, se diferencia del resto de productos del mercado por tener una finalidad educativa y ...
    • 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 ...
    • Dynamic modelling, parameter identification, and motion control of an omnidirectional tire-wheeled robot 

      Giro Pérez, Pere (Universitat Politècnica de Catalunya, 2021-05-25)
      Master thesis
      Open Access
      Covenantee:   Institut de Robòtica i Informàtica Industrial
      In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smartwarehouses, factories or hospitals. ...
    • 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 ...
    • Grasp plannind under task-specific contact constraints 

      Rosales Gallegos, Carlos (Universitat Politècnica de Catalunya, 2013-01-10)
      Doctoral thesis
      Open Access
      Several aspects have to be addressed before realizing the dream of a robotic hand-arm system with human-like capabilities, ranging from the consolidation of a proper mechatronic design, to the development of precise, ...
    • Guiado gestual de un robot humanoide mediante un sensor "kinect" 

      Pfeiffer, Sammy (Universitat Politècnica de Catalunya, 2011-06-29)
      Master thesis (pre-Bologna period)
      Open Access
      Castellano: Este proyecto trata sobre el desarrollo de una aplicación para mover los brazos de un robot humanoide (Bioloid) que imite al usuario de la aplicación gracias a un "skeleton tracking" proporcionado por una ...
    • 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, ...
    • Identificación y seguimiento de personas usando kinect por parte de un robot seguidor 

      Franco Genís, Oscar; Perez-Sala, Xavier; Angulo Bahón, Cecilio (Universidad de Sevilla, 2011)
      Conference report
      Open Access
      El presente trabajo aborda uno de los problemas que surgen en la interacción entre un humano y un robot durante la navegación conjunta: el seguimiento de una persona por parte de un robot, así como la posibilidad de ...
    • Large scale visual odometry using stereo vision 

      Hernández, Andrés; Nieto, Juan I; Vidal Calleja, Teresa; Nebot, Eduardo (2009)
      Conference report
      Open Access
      This paper presents a system for egomotion estimation using a stereo head camera. The camera motion estimation is based on features tracked along a video sequence. The system also estimates the tridimensional geometry ...
    • Localización de robots móviles en entornos cerrados mediante características de audio 

      Manzanares Brotons, Manuel (Universitat Politècnica de Catalunya, 2016-02-03)
      Doctoral thesis
      Open Access
      When GPS is not operative in closed environments, mobile robots use different types of sensor in order to locate their position. However, the use of audiofrequency signals sensors is significative lower than other type of ...