IOC - Institut d'Organització i Control de Sistemes Industrials

 

Pàgina web del departament

Enviaments recents

  • 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)
    Text en actes de congrés
    Accés obert
    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
    Accés obert
    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
    Accés obert
    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)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    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)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    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)
    Comunicació de congrés
    Accés restringit per política de l'editorial
    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)
    Comunicació de congrés
    Accés restringit per política de l'editorial
    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 ...

  • Renta petrolera y electrificación en Venezuela: Análisis histórico y transición hacia la sostenibilidad 

    López González, Alejandro Esteban; Domenech Léga, Bruno; Ferrer Martí, Laia (2017-10-04)
    Article
    Accés obert
    En 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 

    García, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2017-10-30)
    Article
    Accés obert
    The 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 

    Olm Miras, Josep Maria; Biel Solé, Domingo; Repecho del Corral, Víctor; Shtessel, Yuri B. (2017-07-01)
    Article
    Accés obert
    It 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 

    Arocas Pérez, José; Griñó Cubero, Robert (2017-07-01)
    Article
    Accés obert
    Currently, 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 

    García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2017-07-01)
    Article
    Accés obert
    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 ...

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