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Haptic guidance using primitives for the execution of virtual robotic tasks
dc.contributor.author | Vázquez Hurtado, Carlos |
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2013-07-02T08:24:57Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Vázquez, C.; Rosell, J. Haptic guidance using primitives for the execution of virtual robotic tasks. A: IEEE Electronics, Robotics and Automotive Mechanics Conference. "Proceedings of the 2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference". Cuernavaca, Morelos: Institute of Electrical and Electronics Engineers (IEEE), 2012, p. 83-88. |
dc.identifier.isbn | 978-0-7695-4878-4 |
dc.identifier.uri | http://hdl.handle.net/2117/19755 |
dc.description.abstract | Haptic guidance is a powerful tool for people rehabilitation, for handcraft skills acquisition and all kind of enactive tasks. In this paper, different techniques to achieve reliable haptic feedback on the execution of virtual robotic tasks, based on the efficient combination of path planning methods and haptic guidance primitives, are presented. The main contribution of this paper is a reliable system of force guidance based on haptic primitives. The whole proposal is constituted by: 1) a free collision path obtained using a deterministic sampling, hierarchical cell decomposition and harmonic functions 2) force feedback, achieved by means of elastic models, based on simple geometry elements,called haptic primitives, and 3) a virtual robotic task. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Haptic devices |
dc.subject.lcsh | Robots Control systems |
dc.subject.other | virtual tasks |
dc.subject.other | haptic devices |
dc.subject.other | haptic guidance |
dc.title | Haptic guidance using primitives for the execution of virtual robotic tasks |
dc.type | Conference lecture |
dc.subject.lemac | Dispositius hàptics |
dc.subject.lemac | Robots -- Sistemes de control |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/CERMA.2012.22 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 12536150 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Vázquez, C.; Rosell, J. |
local.citation.contributor | IEEE Electronics, Robotics and Automotive Mechanics Conference |
local.citation.pubplace | Cuernavaca, Morelos |
local.citation.publicationName | Proceedings of the 2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference |
local.citation.startingPage | 83 |
local.citation.endingPage | 88 |