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dc.contributor.authorVázquez Hurtado, Carlos
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2013-07-02T08:24:57Z
dc.date.created2012
dc.date.issued2012
dc.identifier.citationVázquez, 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.isbn978-0-7695-4878-4
dc.identifier.urihttp://hdl.handle.net/2117/19755
dc.description.abstractHaptic 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.extent6 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshHaptic devices
dc.subject.lcshRobots Control systems
dc.subject.othervirtual tasks
dc.subject.otherhaptic devices
dc.subject.otherhaptic guidance
dc.titleHaptic guidance using primitives for the execution of virtual robotic tasks
dc.typeConference lecture
dc.subject.lemacDispositius hàptics
dc.subject.lemacRobots -- Sistemes de control
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1109/CERMA.2012.22
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac12536150
dc.description.versionPostprint (published version)
dc.date.lift10000-01-01
local.citation.authorVázquez, C.; Rosell, J.
local.citation.contributorIEEE Electronics, Robotics and Automotive Mechanics Conference
local.citation.pubplaceCuernavaca, Morelos
local.citation.publicationNameProceedings of the 2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference
local.citation.startingPage83
local.citation.endingPage88


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