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Development of a dexterous dual-arm omnidirectional mobile manipulator
(2018-01-01)
Article
Restricted access - publisher's policyThis paper presents an experimental mobile manipulator composed of a dual-arm torso with a human-like structure assembled on an omnidirectional platform. The dual-arm system integrates several commercial devices: two arms ... -
Manipulation of unknown objects to improve the grasp quality using tactile information
(Multidisciplinary Digital Publishing Institute (MDPI), 2018-05-03)
Article
Open AccessThis work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method ... -
Fixed Switching Period Discrete-Time Sliding Mode Current Control of a PMSM
(Institute of Electrical and Electronics Engineers (IEEE), 2017-08-25)
Article
Open AccessA fixed switching period sliding mode control (SMC) for Permanent Magnet Synchronous Machines (PMSMs) is presented. The aim of the paper is to design a SMC that improves the traditional PI based Field Oriented Control (FOC) ... -
Renta petrolera y electrificación en Venezuela: Análisis histórico y transición hacia la sostenibilidad
(2017-10-04)
Article
Open AccessEn este trabajo se estudia la relación entre el desarrollo eléctrico y la industria eléctrica de Venezuela, su dependencia y las políticas energéticas de los gobiernos del período de Democracia Representativa (1958-1998) ... -
Motion planning by demonstration with human-likeness evaluation for dual-arm robots
(Institute of Electrical and Electronics Engineers (IEEE), 2017-10-30)
Article
Open AccessThe 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 ... -
On average real sliding dynamics in linear systems
(2017-07-01)
Article
Open AccessIt is well known that in implementations of sliding mode controllers using hysteresis comparators, when the hysteresis band amplitude tends to zero the real dynamics tends to the ideal sliding dynamics. However, in real ... -
A local stability condition for dc grids with constant power loads
(2017-07-01)
Article
Open AccessCurrently, there are an increasing number of power electronics converters in electrical grids, performing the most diverse tasks, but most of them, work as constant power loads (CPLs). This work presents a sufficient ... -
First-order synergies for motion planning of anthropomorphic dual-arm robots
(2017-07-01)
Article
Open AccessThis paper addresses the problem of designing a planning algorithm for anthropomorphic dual-arm robotic systems to find paths that mimics the movements of real human beings by using first-order synergies (correlations ... -
¿Son los robots fácilmente aceptados en la sociedad?
(2017-03-01)
Article
Open Access -
Robust dexterous telemanipulation following object-orientation commands
(2017-09-01)
Article
Open AccessThis paper aims to present a procedure to change the orientation of a grasped object using dexterous manipulation. The manipulation is controlled by teleoperation in a very simple way, with the commands introduced by an ... -
Robots autónomos diestros como co-trabajadores con operarios humanos
(2017-06-30)
Article
Open Access -
Task-dependent synergies for motion planning of an anthropomorphic dual-arm system
(Institute of Electrical and Electronics Engineers (IEEE), 2017-06-01)
Article
Open AccessThe paper deals with the problem of motion planning for anthropomorphic dual-arm robots. It introduces a measure of the similarity of the movements needed to solve two given tasks. Planning using this measure to select ...
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