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Enhanced plastic recycling using RGB+depth fusion with massFaster and massMask R-CNN
Conference report
Open AccessThe rapid increase in waste generation from electrical and electronic equipment (WEEE) has created the need for more advanced sensor-based systems to sort this complex type of waste. Therefore, this study proposes a method ... -
A novel strategy for balancing the workload of industrial lines based on a genetic algorithm
Conference report
Open AccessOne major problem in industrial automation is the workload balancing problem. It consists of making the robots or, more generally, the machines, involved in the assembly process to work exactly the same, either by picking ... -
Efficient and robust trajectory generation for robotic manipulators
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Conference lecture
Open AccessThis paper describes a procedure to generate valid robot trajectories for a given sequence of points defining a geometric path, which is a quite frequent output of many robot motion planners. The proposed approach takes ... -
Edge computing in autonomous and collaborative assembly lines
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Conference report
Open AccessIndustry 4.0 demands interconnected production lines that consist of modular assets. Recent advances of wireless communication technologies allow a large connectivity of devices and approach the performance of wireline ... -
Task space vector field guiding for motion planning
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Conference report
Open AccessThe article deals with the problem of planning in the task space in the presence of vector fields, while verifying and validating the constraints in the configuration space. The proposed approach, called the Task Space ... -
Graphical visualization of contact forces and hand movements during in-hand manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Conference lecture
Open AccessThe paper presents a tool to graphically display the contact forces applied by the fingers of a robotic hand when doing grasping and in-hand manipulation. The forces are computed in two ways, on one side, directly using ... -
Reasoning and state monitoring for the robust execution of robotic manipulation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Conference lecture
Open AccessThe execution of robotic manipulation tasks needs to be robust in front of failures or changes in the environment, and for this purpose, Behavior Trees (BT) are a good alternative to Finite State Machines, because the ... -
Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies
(2020)
Conference report
Open AccessThis paper presents an approach to perform bilateral in-hand (dexterous) telemanipulation of unknown objects. The proposed approach addresses three of the main problems in telemanipulation: \eno{kinematic issues due to the ... -
Herramienta para visualización gráfica de fuerzas de contacto y de movimientos de una mano robótica con sensores táctiles
(2019)
Conference lecture
Open AccessEn este trabajo se presenta una herramienta de software que permite la visualización gráfica de fuerzas de contacto de especial utilidad en prensiones usando manos robóticas. Las fuerzas visualizadas se generan debido ... -
Model-free in-hand manipulation based on commanded virtual contact points
(Institute of Electrical and Electronics Engineers (IEEE), 2019)
Conference report
Restricted access - publisher's policyThis paper presents a simple strategy to allow therotation of unknown objects using a robotic hand equipped withtactile sensors. The tactile and kinematic information, obtainedwhile that the object ... -
Manipulación diestra de objetos desconocidos usando puntos de contacto virtuales
(2019)
Conference report
Open AccessEn este trabajo se presenta una estrategia de manipulación que permite rotar objetos desconocidos usando una mano robótica equipada con sensores táctiles. Las configuraciones de la mano que permiten cambiar la posición ... -
Improving grasping forces during the manipulation of unknown objects
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Conference report
Open AccessMany of the solutions proposed for the object manipulation problem are based on the knowledge of the object features. The approach proposed in this paper intends to provide a simple geometrical approach to securely manipulate ...
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