Recent Submissions

  • 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
    Restricted access - publisher's policy
    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 ...
  • Assembly planning in cluttered environments through heterogeneous reasoning 

    Beßler, Daniel; Pomarlan, Mihai; Akbari, Aliakbar; Ud Din, Muhayy; Diab, Mohammed; Rosell Gratacòs, Jan; Bateman, John; Beetz, Michael (Springer, 2018)
    Conference lecture
    Open Access
    Assembly recipes can elegantly be represented in description logic theories. With such a recipe, the robot can figure out the next assembly step through logical inference. However, before performing an action, the robot ...
  • Modeling human-likeness in approaching motions of dual-arm autonomous robots 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    This paper addresses the problem of obtaining human-like motions with an anthropomorphic dual-arm torso assembled on a mobile platform. The focus is set on the coordinated movements of the robotic arms and the robot base ...
  • 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 ...
  • 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 ...
  • 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 ...
  • 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 ...
  • 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)
    Conference report
    Open Access
    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 ...

View more