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Planning manipulation movements of a dual-arm system considering obstacle removing
(2014-12-01)
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Article.
Accés obert
The paper deals with the problem of planning movements of two hand-arm robotic systems, considering the possibility of using the robot hands to remove potential obstacles in order to obtain a free access to grasp a desired ...
First-order synergies for motion planning of anthropomorphic dual-arm robots
(2017-07-01)
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Article.
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This 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 ...
Exploiting the robot kinematic redundancy for emotion conveyance to humans as a lower priority task
(2017-01-17)
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Article.
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Current approaches do not allow robots to execute a task and simultaneously convey emotions to users using their body motions. This paper explores the capabilities of the Jacobian null space of a humanoid robot to convey ...
Grasp quality measures: review and performance
(2015-01-01)
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Article.
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The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand ...
Planning grasping motions for humanoid robots
(2019-12-15)
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Article.
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This paper addresses the problem of obtaining the required motions for a humanoid robot to perform grasp actions trying to mimic the coordinated hand–arm movements humans do. The first step is the data acquisition and ...
¿Son los robots fácilmente aceptados en la sociedad?
(2017-03-01)
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Article.
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Robust dexterous telemanipulation following object-orientation commands
(2017-09-01)
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This 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 ...
Fixed Switching Period Discrete-Time Sliding Mode Current Control of a PMSM
(Institute of Electrical and Electronics Engineers (IEEE), 2017-08-25)
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Article.
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A 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) ...
Coordination of several robots based on temporal synchronization
(2016-12-01)
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Article.
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This paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can ...
Sustainable rural electrification planning in developing countries: a proposal for electrification of isolated communities of Venezuela
(2019-06-01)
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Article.
Accés obert
Small-scale renewable energy technologies offer impoverished rural communities in developing countries the ability to overcome extreme poverty and improve their living conditions. Unfortunately, most presented frameworks ...