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 ...
  • 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
    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.
  • Dexterous manipulation of unknown objects using virtual contact points 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (MDPI AG, 2019-10-12)
    Article
    Open Access
    The manipulation of unknown objects is a problem of special interest in robotics since it is not always possible to have exact models of the objects with which the robot interacts. This paper presents a simple strategy to ...
  • Preface: a special selection on biomechanics in medical applications - Part I 

    Peña Pitarch, Esteve; Drochon, Angès; Ng Yin Kwee, Eddie (2019-10-17)
    Article
    Restricted access - publisher's policy
    Part I of this special issue sums up the selections focusing on the Applications of Biomechanics in Medicine.
  • Preface: a special selection on biological application of mechanics - Part II 

    Peña Pitarch, Esteve; Drochon, Angès; Ng Yin Kwee, Eddie (2018-12-01)
    Article
    Restricted access - publisher's policy
    Part II of this special issue concludes the selection concentraiting on the Applications on Mechanics in Medicine and Biology.
  • Preface: a special selections on biological applications of mechanics - Part I 

    Peña Pitarch, Esteve; Drochon, Angès; Ng Yin Kwee, Eddie (2018-11-14)
    Article
    Restricted access - publisher's policy
    Part I of these special issue concludes the selection concentraiting on the Applications on Mechanics in Medicine and Biology.

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