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

  • Mobile manipulation hackathon: moving into real world applications 

    Roa Garzón, Máximo Alejandro; Rosell Gratacòs, Jan; Foix Salmerón, Sergi; Pagès, Jordi; Dogar, Mehmet R.; Vivas, Carlos; Morales Escrig, Antonio; Correll, Nikolaus; Gorner, Michael; Memmesheier, Raphael; Ferro, Francesco (2021)
    Article
    Open Access
    The Mobile Manipulation Hackathon was held in late 2018 during the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) to showcase the latest applications of wheeled robotic manipulators. The challenge ...
  • A lightweight perception module for planning purposes 

    Ud Din, Muhayy; Rosell Gratacòs, Jan; Bukhari, Sohail; Ahmad, Mansoor; Qazi, Wajahat Mahmood (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference lecture
    Open Access
    Sensing is an essential component for robots to perform the manipulation tasks in real environments. This study proposes a lightweight deep-learning-based sensing modules which allows the robots to automatically model the ...
  • Flexibly configuring task and motion planning problems for mobile manipulators* 

    Rosell Gratacòs, Jan; Saoji, Siddhant (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference lecture
    Open Access
    Robotic manipulation requires the planning at a symbolic level (task planning) and at a geometric level (motion planning). This paper presents a planning framework for both levels of planning that includes an easy way to ...
  • Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl; Aldana López, Carlos Iván; Nuño, Emmanuel (2020)
    Conference report
    Open Access
    This 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 ...
  • Preface: a special selection on mechanical engineering applied to biomedicine - Part II 

    Peña Pitarch, Esteve; Drochon, Agnès; Ng Yin Kwee, Eddie (2020-12-16)
    Article
    Open Access
    Part II of this special issue collects the contributions concentrating on Mechanical Engineering Applied to Biomedicine. It aims to accounts for outstanding and novel research in mechanics used for biomedicine and relevant ¿elds.
  • Preface: a special selection on mechanical engineering applied to biomedicine - Part I 

    Peña Pitarch, Esteve; Drochon, Agnès; Ng Yin Kwee, Eddie (2020-10-15)
    Article
    Open Access
    Part I of this special issue collects the contributions concentrating on Mechanical Engineering Applied to Biomedicine. It aims to accounts for outstanding and novel research in mechanics used for biomedicine and relevant fields.
  • SkillMaN — A skill-based robotic manipulation framework based on perception and reasoning 

    Diab, Mohammed; Pomarlan, Mihai; Beßler, Daniel; Rosell Gratacòs, Jan; Akbari, Aliakbar; Bateman, John; Beetz, Michael (2020-12)
    Article
    Restricted access - publisher's policy
    One of the problems that service robotics deals with is to bring mobile manipulators to work in semi-structured human scenarios, which requires an efficient and flexible way to execute every-day tasks, like serve a cup in ...
  • “Knowing from” – An outlook on ontology enabled knowledge transfer for robotic systems 

    Diab, Mohammed; Pomerlan, Mihai; Bebler, Daniel; Rosell Gratacòs, Jan (2020)
    Conference report
    Open Access
    Encoding practical knowledge about everyday activities has proven difficult, and is a limiting factor in the progress of autonomous robotics. Learning approaches, e.g. imitation learning from human data, have been used as ...
  • 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; García, Nestor (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 ...
  • Contingent task and motion planning under uncertainty for human–robot interactions 

    Akbari, Aliakbar; Rosell Gratacòs, Jan; Diab, Mohammed (Multidisciplinary Digital Publishing Institute, 2020-03-01)
    Article
    Open Access
    Manipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human ...
  • A review and comparison of ontology-based approaches to robot autonomy 

    Olivares Alarcos, Alberto; Bebler, Daniel; Khamis, Alaa; Goncalves, Paulo; Habib, Maki K.; Bermejo Alonso, Julita; Barreto, Marcoss; Diab, Mohammed; Rosell Gratacòs, Jan; Quintas, João; Olszewska, Joanna; Nakawala, Hirenkumar; Pignaton de Freitas, Edison; Gyrard, Amelie; Borgo, Stefano; Alenyà Ribas, Guillem; Beetz, Michael; Li, Howard (2019-01-01)
    Article
    Open Access
    Within the next decades, robots will need to be able to execute a large variety of tasks autonomously in a large variety of environments. To relax the resulting programming effort, a knowledge-enabled approach to robot ...
  • Planning grasping motions for humanoid robots 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; García, Néstor; Ud Din, Muhayy (2019-12-15)
    Article
    Open Access
    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 ...

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