Now showing items 1-12 of 149

  • 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 ...
  • A roadmap to robot motion planning software development 

    Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (2009-02-23)
    Article
    Open Access
    PhD programs and graduate studies in robotics usually include motion planning among its main subjects. Students that focus their research in this subject find themselves trapped in the necessity of programming an environment ...
  • 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
    Open Access
    © 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)
    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 ...
  • Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty 

    Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
    Conference report
    Restricted access - publisher's policy
    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
    Open Access
    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)
    Conference report
    Restricted access - publisher's policy
    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)
    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 ...
  • 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 ...
  • Physics-based Motion Planning with Temporal Logic Specifications 

    Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (2017-07-01)
    Conference lecture
    Open Access
    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
    Open Access
    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 ...