Now showing items 13-24 of 322

    • 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 ...
    • 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
      Open Access
      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
      Open Access
      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
      Open Access
      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 ...