Ponències/Comunicacions de congressos
Recent Submissions
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Computación frontera: influencia de latencias en la precisión de robots
(2023)
Conference lecture
Open AccessLa computación en la frontera (edge computing) permite acceder a grandes recursos computacionales y a redes de computadores, facilitando que pequeños dispositivos con recursos limitados realicen cálculos complejos ... -
A simple yet smart head module for mobile manipulators
(2023)
Conference report
Open AccessMobile manipulators working in semi-structured human environments need smart vision capabilities to perceive the world and interact with human operators. With this purpose in mind, this paper presents the development of a ... -
Resolución geométrica de la cinemática inversa de un robot sin muñeca esférica
(Universidade da Coruña. Servizo de Publicacións, 2023)
Conference lecture
Open AccessUna de las aplicaciones más conocidas del álgebra geométrica en la ingenierìa consiste en proporcionar una formulación compacta de la cinemática de los robots manipuladores serie. Sin embargo, el uso de álgebra geométrica ... -
BE-AWARE: an ontology-based adaptive robotic manipulation framework
(2023)
Conference lecture
Open AccessAutonomous service robots are conceived to work in semi-structured and complex human environments performing a wide range of tasks and, hence, one of their main challenges is to be able to adapt the stages of the ... -
Enhanced plastic recycling using RGB+depth fusion with massFaster and massMask R-CNN
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
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
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
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 ...
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