Ana Elvira H. Martin — accepted AI-conference papers

2024

Bayesian Optimization for Robust Robotic Grasping Using a Sensorized Compliant Hand

Juan G. Lechuz-Sierra, Ana Elvira H. Martin, Ashok M. Sundaram, Ruben Martinez-Cantin, Máximo A. Roa

RA-L 2024

One of the first tasks we learn as children is to grasp objects based on our tactile perception. Incorporating such skill in robots will enable multiple applications, such as increasing flexibility in industrial processes or providing assistance to people with physical disabilities. However, the dif

Cited by 4 Source ↗Scholar ↗

2023

Task-Oriented Stiffness Setting for a Variable Stiffness Hand

Ana Elvira H. Martin, Ashok M. Sundaram, Werner Friedl, Virginia Ruiz Garate, Máximo A. Roa

ICRA 2023poster

The integration of variable stiffness actuators (VSA) in robotic systems endows them with intrinsic flexibility and therefore robustness to unknown disturbances. However, this characteristic presents a challenge: choosing the best intrinsic stiffness setting guaranteeing the required force ap-plicat…

Cited by 5 Source ↗Scholar ↗

2020

TACTO-Selector: Enhanced Hierarchical Fusion of PBVS with Reactive Skin Control for Physical Human-Robot Interaction

Ana Elvira H. Martin, Emmanuel Dean-Leon, Gordon Cheng

ICRA 2020poster

In a physical Human-Robot Interaction for industrial scenarios is paramount to guarantee the safety of the user while keeping the robot's performance. Hierarchical task approaches are not sufficient since they tend to sacrifice the low priority tasks in order to guarantee the consistency of the main…

Cited by 3 Source ↗Scholar ↗