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Recent Submissions
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Automatic generation of behavior trees for the execution of robotic manipulation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2021)
Conference report
Open AccessRobots should be able to exercise reasoning in both symbolic and geometric levels in order to plan a manipulation task. The execution of such tasks needs to be robust enough to cope with real environments. In an attempt ... -
FailRecOnt - An ontology-based framework for failure interpretation and recovery in planning and execution
(2021)
Conference report
Open AccessAutonomous mobile robot manipulators have the potential to act as robot helpers at home to improve quality of life for various user populations, such as elderly or handicapped people, or to act as robot co-workers on factory ... -
A lightweight perception module for planning purposes
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Conference lecture
Open AccessSensing 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*
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Conference lecture
Open AccessRobotic 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
(2020)
Conference report
Open AccessThis 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 ... -
“Knowing from” – An outlook on ontology enabled knowledge transfer for robotic systems
(2020)
Conference report
Open AccessEncoding 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 ... -
An ontology for failure interpretation in automated planning and execution
(2019)
Conference lecture
Open AccessAutonomous 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 ... -
Learning Action-oriented grasping for manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2019)
Conference lecture
Restricted access - publisher's policyComplex manipulation tasks require grasping strategies that simultaneously satisfy the stability and the semantic constraints that have to be satisfied for an action to be feasible, referred as action-oriented semantic ... -
Herramienta para visualización gráfica de fuerzas de contacto y de movimientos de una mano robótica con sensores táctiles
(2019)
Conference lecture
Open AccessEn este trabajo se presenta una herramienta de software que permite la visualización gráfica de fuerzas de contacto de especial utilidad en prensiones usando manos robóticas. Las fuerzas visualizadas se generan debido ... -
Model-free in-hand manipulation based on commanded virtual contact points
(Institute of Electrical and Electronics Engineers (IEEE), 2019)
Conference report
Restricted access - publisher's policyThis paper presents a simple strategy to allow therotation of unknown objects using a robotic hand equipped withtactile sensors. The tactile and kinematic information, obtainedwhile that the object ... -
Manipulación diestra de objetos desconocidos usando puntos de contacto virtuales
(2019)
Conference report
Open AccessEn este trabajo se presenta una estrategia de manipulación que permite rotar objetos desconocidos usando una mano robótica equipada con sensores táctiles. Las configuraciones de la mano que permiten cambiar la posición ... -
Improving grasping forces during the manipulation of unknown objects
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Conference report
Open AccessMany of the solutions proposed for the object manipulation problem are based on the knowledge of the object features. The approach proposed in this paper intends to provide a simple geometrical approach to securely manipulate ...
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