El grup SIR desenvolupa la seva activitat en robòtica industrial i de serveis, proposant de forma transversal eines per a la teleoperació de robots i per a la manipulació destra d'objectes. Aquest enfocament requereix diverses temàtiques, com l'ús de dispositius hàptics, eines de posicionament relacional, sistemes de visió 3D amb realitat augmentada, simulació gràfica, algorismes de control i comunicacions mitjançant Internet, síntesi automàtica de prensions, telemanipulació i programació per demostració.

http://futur.upc.edu/SIR

El grupo SIR realiza su activitat dentro del marco de la robótica industrial y de servicio, y su investigación está centrada en la teleoperación de robots y en la manipulación diestra de objetos con una amplia gama de aplicaciones. La investigación en telerobótica requiere el desarrollo de diversas temáticas como la realimentación de fuerza mediante dispositivos hápticos, el posicionamiento relacional, la visión 3D con realidad aumentada, los sistemas de guiado basados en la planificación de movimientos, la simulación gráfica, los algoritmos de control y las comunicaciones a través de Internet. Por otro lado, en relación con la manipulación diestra de objetos, el grupo desarrolla temáticas como la síntesis automática de prensiones, la planificación de movimientos de mecanismos complejos, la telemanipulación y la programación por demostración que posibilitan la realización automática de tareas de prensión y manipulación.

http://futur.upc.edu/SIR

Group SIR activity takes mainly place within the frame of the service and industrial robotics, and its research is centered in the teleoperation of robots and the desterous manipulation of obejects, with a wide range of applications. The research in telerobotics requires the development of several topics like force feedback by means of haptic devices, realtional positioning, 3D vision with augmente reality, guidance systems based on motion planning, grpahical simulation, control alghorithms and communications through Internet. On the other hand, in relation to the dexterous manipulation of objects, the group develops topics like automatic synthesis of grasping, planning of movements of complex mechanisms, remote control of programming by demonstration that make possible the automatic performance of grasping tasks and manipulation.

http://futur.upc.edu/SIR

Group SIR activity takes mainly place within the frame of the service and industrial robotics, and its research is centered in the teleoperation of robots and the desterous manipulation of obejects, with a wide range of applications. The research in telerobotics requires the development of several topics like force feedback by means of haptic devices, realtional positioning, 3D vision with augmente reality, guidance systems based on motion planning, grpahical simulation, control alghorithms and communications through Internet. On the other hand, in relation to the dexterous manipulation of objects, the group develops topics like automatic synthesis of grasping, planning of movements of complex mechanisms, remote control of programming by demonstration that make possible the automatic performance of grasping tasks and manipulation.

http://futur.upc.edu/SIR

Enviaments recents

  • A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis 

    Zaplana Agut, Isiah; Basañez Villaluenga, Luis (2018-03-01)
    Article
    Accés restringit per política de l'editorial
    © 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form ...
  • 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 ...
  • Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty 

    Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Grasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of ...
  • Randomized physics-based motion planning for grasping in cluttered and uncertain environments 

    Muhayy, Uddin; Moll, Mark; Kavraki, Lydia; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2018-04-01)
    Article
    Accés obert
    Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully ...
  • An Ontology Framework for Physics-Based Manipulation Planning 

    Diab, Mohammed; Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    In manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion ...
  • 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 ...
  • 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 ...
  • Physics-based Motion Planning with Temporal Logic Specifications 

    Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (2017-07-01)
    Comunicació de congrés
    Accés obert
    One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find ...
  • 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 ...
  • Modelización y filtrado de secuencias de imágenes perturbadas por ruido blanco gaussiano 

    Basañez Villaluenga, Luis; Brunet Crosa, Pere (Asociación Española de Informática y Automática (AEIA), 1979)
    Text en actes de congrés
    Accés obert
    La restauración de imágenes perturbadas por ruido constituye un tema de gran interés y actualidad por su amplio campo de aplicaciones en áreas que van desde la bioingeniería hasta la robótica industrial. Para la ...
  • Simulation of virtual human hand evolution after stroke 

    Peña Pitarch, Esteve; Ticó Falguera, Neus (Università degli Studi di Genova, 2017)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Realitzat a/amb:  Fundació Althaia
    Different types of neurological deficits and sequels in the upper extremities that affect the activities of daily living (ADL) in patients who have undergone stroke have been analyzed from a subjective clinical point of ...

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