IOC - Institut d'Organització i Control de Sistemes Industrials
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Articles de revista [100]
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Reports de recerca [88]
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Recent Submissions
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Human to robot hand motion mapping methods: review and classification
(2022-01-01)
Article
Open AccessIn this article, the variety of approaches proposed in literature to address the problem of mapping human to robot hand motions are summarized and discussed. We particularly attempt to organize under macro-categories the ... -
Editorial: current challenges and future developments in robot grasping
(Frontiers Media SA, 2022-07-11)
Article
Open Access -
Graphical visualization of contact forces and hand movements during in-hand manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Conference lecture
Open AccessThe paper presents a tool to graphically display the contact forces applied by the fingers of a robotic hand when doing grasping and in-hand manipulation. The forces are computed in two ways, on one side, directly using ... -
Reasoning and state monitoring for the robust execution of robotic manipulation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Conference lecture
Open AccessThe execution of robotic manipulation tasks needs to be robust in front of failures or changes in the environment, and for this purpose, Behavior Trees (BT) are a good alternative to Finite State Machines, because the ... -
Efficient Industrial Solution for Robotic Task Sequencing Problem With Mutual Collision Avoidance & Cycle Time Optimization
(Institute of Electrical and Electronics Engineers (IEEE), 2022-04)
Article
Open AccessIn the automotive industry, several robots are required to simultaneously carry out welding sequences on the same vehicle. Coordinating and assigning welding points between robots is a manual and difficult phase that needs ... -
Strengthening the sustainability of rural electrification projects: Renewable energy, management models and energy transitions in Peru, Ecuador and Bolivia
(Elsevier, 2021-10)
Article
Restricted access - publisher's policyIsolated small-scale renewable energy projects are a suitable option to provide access to electricity in rural areas. In such projects, establishing a suitable management model is a key issue for ensuring sustainability. ... -
Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies
(2020)
Conference report
Open AccessThis paper presents an approach to perform bilateral in-hand (dexterous) telemanipulation of unknown objects. The proposed approach addresses three of the main problems in telemanipulation: \eno{kinematic issues due to the ... -
The gendered politics of rural electrification: education, indigenous communities, and impacts for the Venezuelan Guajira
(Elsevier, 2020-09-17)
Article
Open AccessRural electrification has often been promoted to improve women's access to education. However, no studies have been conducted to measure the actual impact of electrification on equitable access to education, qualitatively ... -
Evaluation of small wind turbines for rural electrification: case studies from extreme climatic conditions in Venezuela
(2020-10-15)
Article
Open AccessOn-site technology performance evaluations are needed in tropical regions with extreme climatic conditions in order to reinforce electricity access programs based on renewable energy technologies (RET), particularly off-grid ... -
Long-term sustainability assessment of micro-hydro projects: case studies from Venezuela
(2019-08-01)
Article
Open AccessIn 2016, 1,100 million people lack access to electricity, mainly in developing countries in Africa, Asia and South America. In these countries, there is a large potential for hydroelectric production through off-grid ... -
Dual-arm dexterous mobile manipulator with new omnidirectional wheels manipulador móvil, bibrazo y diestro con nuevas ruedas omnidireccionales
(2020-01-01)
Article
Open AccessEste artículo describe un manipulador móvil, bimanual y con capacidad de manipulación diestra denominado MADAR (de Mobile Anthropomorphic Dual-Arm Robot). Básicamente puede dividirse en dos partes, una base móvil y una ... -
Planning grasping motions for humanoid robots
(2019-12-15)
Article
Open AccessThis 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 ...
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