IOC - Institut d'Organització i Control de Sistemes Industrials

 

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Recent Submissions

  • Improving grasping forces during the manipulation of unknown objects 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    Many of the solutions proposed for the object manipulation problem are based on the knowledge of the object features. The approach proposed in this paper intends to provide a simple geometrical approach to securely manipulate ...

  • Planning hand-arm grasping motions with human-like appearance 

    García, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2018)
    Conference report
    Open Access
    This paper addresses the problem of obtaining human-like motions on hand-arm robotic systems performing pick-and-place actions. The focus is set on the coordinated movements of the robotic arm and the anthropomorphic ...

  • Manipulación de objetos desconocidos analizando localmente su forma para optimizar las fuerzas de prensión 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2018)
    Conference lecture
    Restricted access - publisher's policy
    Los enfoques propuestos para la manipulación de objetos se basan, generalmente, en el conocimiento de las características del objeto manipulado. En este trabajo se presenta un enfoque geométrico que permite manipular un ...

  • Development of a dexterous dual-arm omnidirectional mobile manipulator 

    Suárez Feijóo, Raúl; Palomo Avellaneda, Leopold; Martínez Miralles, Jordi Ramon; Clos Costa, Daniel; García Hidalgo, Néstor (2018-01-01)
    Article
    Restricted access - publisher's policy
    This 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 ...

  • Implementación de un controlador en modo deslizante a frecuencia de conmutación fija en un convertidor elevador 

    Repecho del Corral, Víctor; Biel Solé, Domingo; Olm Miras, Josep Maria (2017)
    Conference report
    Restricted access - publisher's policy
    En este trabajo se muestra la aplicación de una técnica para la regulación de frecuencia en controladores desli- zantes en un convertidor elevador. Dicha estrategia, la cua l había sido propuesta teóricamente para sistemas ...

  • Modeling human-likeness in approaching motions of dual-arm autonomous robots 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    This paper addresses the problem of obtaining human-like motions with an anthropomorphic dual-arm torso assembled on a mobile platform. The focus is set on the coordinated movements of the robotic arms and the robot base ...

  • Manipulation of unknown objects to improve the grasp quality using tactile information 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Multidisciplinary Digital Publishing Institute (MDPI), 2018-05-03)
    Article
    Open Access
    This 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 

    Repecho del Corral, Víctor; Biel Solé, Domingo; Arias Pujol, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-25)
    Article
    Open Access
    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) ...

  • Grasp quality measures for transferring objects 

    Soler, Fernando; Rojas-de-Silva, Abiud; Suárez Feijóo, Raúl (Springer, 2017)
    Conference report
    Restricted access - publisher's policy
    There is a lack of quality indexes to evaluate grasps that are more likely to allow a hand-to-hand transfer of an object during a ma- nipulation task. In order to overcome it, this paper presents a proposal of grasp transfer ...

  • Contact force computation for bimanual grasps 

    Rojas de Silva Gonzalez, Francisco Abiud; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Conference report
    Restricted access - publisher's policy
    This paper presents a method to compute con- tact forces for bimanual grasps. The method is based on the optimization of the force distribution of the hands and min- imizing the force ...

  • Cálculo de fuerzas de contacto para prensiones bimanuales 

    Rojas-de-Silva, Abiud; Suárez Feijóo, Raúl (2017)
    Conference lecture
    Restricted access - publisher's policy
    En este artículo se presenta un método para calcular fuerzas de contacto para prensiones bimanuales. El método propuesto utiliza dos funciones de coste para optimizar la distribución de la fuerza de las manos con las que ...

  • Diseño de una prótesis de mano adaptable al crecimiento 

    Ayats, Marta; Suárez Feijóo, Raúl (2017)
    Conference lecture
    Restricted access - publisher's policy
    En este artículo se presenta el diseño de una prótesis de mano que se adapta al crecimiento del usuario, desde los 4 años hasta la edad adulta. Se ha considerado en el diseño el estudio de las necesidades de los pacientes ...

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