El grup SIR desenvolupa l'activitat d'investigació en robòtica industrial i de serveis seguint els enfocaments tradicionals i els nous paradigmes en què els robots poden treballar de forma segura juntament amb els humans de forma que es converteixin en companys de treball i col·legues en la fàbrica i en la llar. En aquest àmbit, el treball d'investigació del grup se centra principalment en eines transversals per a la manipulació dretana, mòbil i cooperativa, així com per a la teleoperació de robots. La llista de temes abordats inclou control i comunicacions a través d'Internet, posicionament relacional, sistemes de visió i realitat augmentada en 3D, síntesi automàtica de captures, telemanipulació, programació per demostració, planificació del moviment similar a l'humà, planificació simultània de tasques i moviments i planificació de la manipulació basada en la física. Les eines comunes utilitzades en aquesta investigació són dispositius háptics, plataformes mòbils, robots industrials, robots de doble braç, mans mecàniques i sistemes sensorials.

El grupo SIR desarrolla la actividad de investigación en robótica industrial y de servicios siguiendo los enfoques tradicionales y los nuevos paradigmas donde los robots pueden trabajar de forma segura junto a los humanos de forma que se conviertan en compañeros de trabajo y colegas en la fábrica y en el hogar. En este ámbito, el trabajo de investigación del grupo se centra principalmente en herramientas transversales para la manipulación diestra, móvil y cooperativa, así como para la teleoperación de robots. La lista de temas abordados incluye control y comunicaciones a través de Internet, posicionamiento relacional, sistemas de visión y realidad aumentada en 3D, síntesis automática de capturas, telemanipulación, programación por demostración, planificación del movimiento similar al humano, planificación simultánea de tareas y movimientos y planificación de la manipulación basada en la física. Las herramientas comunes utilizadas en esta investigación son dispositivos hápticos, plataformas móviles, robots industriales, robots de doble brazo, manos mecánicas y sistemas sensoriales.

The group SIR performs the research activity in industrial and service robotics following traditional approaches as well as new paradigms where the robots are allowed to work safely alongside humans in such a way that they become collaborative coworkers and fellows in the factory floor and at home. In this scope, the research work of the group is mainly focused on transversal tools for dexterous, mobile and cooperative manipulation as well as for robot teleoperation. The list of addressed topics includes control and communications through the Internet, relational positioning, vision systems and 3D augmented reality, automatic synthesis of grasps, telemanipulation, programming by demonstration, human-like motion planning, simultaneous task and motion planning, and physics-based manipulation planning. Typical tools used in this research are haptic devices, mobile platforms, industrial robots, dual-arm robots, mechanical hands and sensory systems.

The group SIR performs the research activity in industrial and service robotics following traditional approaches as well as new paradigms where the robots are allowed to work safely alongside humans in such a way that they become collaborative coworkers and fellows in the factory floor and at home. In this scope, the research work of the group is mainly focused on transversal tools for dexterous, mobile and cooperative manipulation as well as for robot teleoperation. The list of addressed topics includes control and communications through the Internet, relational positioning, vision systems and 3D augmented reality, automatic synthesis of grasps, telemanipulation, programming by demonstration, human-like motion planning, simultaneous task and motion planning, and physics-based manipulation planning. Typical tools used in this research are haptic devices, mobile platforms, industrial robots, dual-arm robots, mechanical hands and sensory systems.

Recent Submissions

  • Dual-arm dexterous mobile manipulator with new omnidirectional wheels manipulador móvil, bibrazo y diestro con nuevas ruedas omnidireccionales 

    Suárez Feijóo, Raúl; Palomo Avellaneda, Leopold; Martínez Miralles, Jordi Ramon; Clos Costa, Daniel (2020-01-01)
    Article
    Open Access
    Este 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 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; García, Néstor; Ud Din, Muhayy (2019-12-15)
    Article
    Restricted access - publisher's policy
    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 ...
  • Quality diagrams with PyCirkuit 

    Mas Casals, Orestes Miquel (2020-02-02)
    External research report
    Open Access
  • An ontology for failure interpretation in automated planning and execution 

    Diab, Mohammed; Pomarlan, Mihai; Bebler, Daniel; Akbari, Aliakbar; Bateman, John; Beetz, Michael; Rosell Gratacòs, Jan (2019)
    Conference lecture
    Restricted access - publisher's policy
    Autonomous indoor robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions, where task and motion planning levels are coupled. In both planning levels and execution phase, several source ...
  • Reliability and diagnostic accuracy of a new vaginal dynamometer to measure pelvic floor muscle strength 

    Romero Cullerés, Georgia; Peña Pitarch, Esteve; Jané Feixas, Cecília; Vilaseca Grané, Ana; Montesinos Muñoz, Jesús; Arnau, Anna (Lippincott Williams & Wilkins, 2020-04-21)
    Article
    Restricted access - publisher's policy
    Aims: Assess the intrarater and interrater reliabilities and diagnostic accuracy of a new vaginal dynamometer to measure pelvic floor muscle (PFM) strength in incontinent and continent women. Methods: A test-retest ...
  • Preface: a special selection on biomechanics in medical application - Part II 

    Peña Pitarch, Esteve; Drochon, Angès; Ng Yin Kwee, Eddie (2019-12-13)
    Article
    Restricted access - publisher's policy
    Part II of this special issue sums up the selections focusing on the Applications of Biomechanics in Medicine.
  • Numerical model for a nineteenth-century hydrometric module 

    Vives i Costa, Jordi; Felipe Blanch, José Juan de; Peña Pitarch, Esteve (2019-11-01)
    Article
    Open Access
    The Cequia of Manresa is a 26-km open channel constructed in the fourteenth century that conveys water from the Llobregat River to the city of Manresa using an elevation difference of 10.4 m. The channel is still operational ...
  • Learning Action-oriented grasping for manipulation 

    Ud Din, Muhayy; Sarwar, M Usman; Zahoor, Imran; Qazi, Wajahat M; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference lecture
    Restricted access - publisher's policy
    Complex manipulation tasks require grasping strategies that simultaneously satisfy the stability and the semantic constraints that have to be satisfied for an action to be feasible, referred as action-oriented semantic ...
  • Aspectos técnicos de los robots co-trabajadores con operadores humanos 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2019-07-01)
    Article
    Open Access
    La robótica colaborativa, en la que los robots comparten el espacio de trabajo con los humanos e interactúan con ellos, toma un papel cada vez más relevante. En este contexto, el artículo presenta desarrollos realizados ...
  • PMK : a knowledge processing framework for autonomous robotics perception and manipulation 

    Diab, Mohammed; Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Multidisciplinary Digital Publishing Institute (MDPI), 2019-03-07)
    Article
    Open Access
    Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial ...
  • A tool for knowledge-oriented physics-based motion planning and simulation 

    Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan; Qazi, Wajahat Mahmood (2019)
    Part of book or chapter of book
    Open Access
    The book covers a variety of topics in Information and Communications Technology (ICT) and their impact on innovation and business. The authors discuss various innovations, business and industrial motivations, and impact ...
  • 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 ...

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