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A roadmap to robot motion planning software development
(2009-02-23)
Article
Open AccessPhD 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
(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 ... -
Randomized physics-based motion planning for grasping in cluttered and uncertain environments
(Institute of Electrical and Electronics Engineers (IEEE), 2018-04-01)
Article
Open AccessPlanning 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 ... -
Motion planning by demonstration with human-likeness evaluation for dual-arm robots
(Institute of Electrical and Electronics Engineers (IEEE), 2017-10-30)
Article
Open AccessThe 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 ... -
First-order synergies for motion planning of anthropomorphic dual-arm robots
(2017-07-01)
Article
Open AccessThis 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 ... -
¿Son los robots fácilmente aceptados en la sociedad?
(2017-03-01)
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Open Access -
Robust dexterous telemanipulation following object-orientation commands
(2017-09-01)
Article
Open AccessThis paper aims to present a procedure to change the orientation of a grasped object using dexterous manipulation. The manipulation is controlled by teleoperation in a very simple way, with the commands introduced by an ... -
k-PMP: enhancing physics-based motion planners with knowledge-based reasoning
(2017-09-22)
Article
Open AccessPhysics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners ... -
Robots autónomos diestros como co-trabajadores con operarios humanos
(2017-06-30)
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Open Access -
Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time-delays
(2017-06-01)
Article
Open AccessThis work deals with the leader-follower and the leaderless consensus problems in networks of multiple robot manipulators. The robots are non-identical, kinematically different (heterogeneous), and their physical parameters ... -
Task-dependent synergies for motion planning of an anthropomorphic dual-arm system
(Institute of Electrical and Electronics Engineers (IEEE), 2017-06-01)
Article
Open AccessThe paper deals with the problem of motion planning for anthropomorphic dual-arm robots. It introduces a measure of the similarity of the movements needed to solve two given tasks. Planning using this measure to select ... -
Coordination of several robots based on temporal synchronization
(2016-12-01)
Article
Open AccessThis paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can ...
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