Recent Submissions

  • A lightweight perception module for planning purposes 

    Ud Din, Muhayy; Rosell Gratacòs, Jan; Bukhari, Sohail; Ahmad, Mansoor; Qazi, Wajahat Mahmood (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference lecture
    Open Access
    Sensing 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* 

    Rosell Gratacòs, Jan; Saoji, Siddhant (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference lecture
    Open Access
    Robotic 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 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl; Aldana López, Carlos Iván; Nuño, Emmanuel (2020)
    Conference report
    Open Access
    This 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 

    Diab, Mohammed; Pomerlan, Mihai; Bebler, Daniel; Rosell Gratacòs, Jan (2020)
    Conference report
    Open Access
    Encoding 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 

    Diab, Mohammed; Pomarlan, Mihai; Bebler, Daniel; Akbari, Aliakbar; Bateman, John; Beetz, Michael; Rosell Gratacòs, Jan (2019)
    Conference lecture
    Open Access
    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 ...
  • Learning Action-oriented grasping for manipulation 

    Ud Din, Muhayy; Sarwar, M Usman; Zahoor, Imran; Qazi, Wajahat M; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference lecture
    Restricted access - publisher's policy
    Complex 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 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2019)
    Conference lecture
    Open Access
    En 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 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference report
    Restricted access - publisher's policy
    This 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 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2019)
    Conference report
    Open Access
    En 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 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    Many 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 ...
  • Planning hand-arm grasping motions with human-like appearance 

    García, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2018)
    Conference report
    Open Access
    This paper addresses the problem of obtaining human-like motions on hand-arm robotic systems performing pick-and-place actions. The focus is set on the coordinated movements of the robotic arm and the anthropomorphic ...
  • Manipulación de objetos desconocidos analizando localmente su forma para optimizar las fuerzas de prensión 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2018)
    Conference lecture
    Restricted access - publisher's policy
    Los enfoques propuestos para la manipulación de objetos se basan, generalmente, en el conocimiento de las características del objeto manipulado. En este trabajo se presenta un enfoque geométrico que permite manipular un ...

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