Now showing items 1-20 of 28

  • 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 ...
  • 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 ...
  • 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 ...
  • 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 ...
  • 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 ...
  • 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 ...
  • Motion planning by demonstration with human-likeness evaluation for dual-arm robots 

    García, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2017-10-30)
    Article
    Open Access
    The paper presents a planning procedure that allows an anthropomorphic dual-arm robotic system to perform a manipulation task in a natural human-like way by using demonstrated human movements. The key idea of the proposal ...
  • 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 ...