Juan Antonio Corrales Ramon — accepted AI-conference papers

2024

Multi Actor-Critic DDPG for Robot Action Space Decomposition: A Framework to Control Large 3D Deformation of Soft Linear Objects

Mélodie Daniel, Aly Magassouba, Miguel Aranda, Laurent Lequièvre, Juan Antonio Corrales Ramon, Roberto Iglesias Rodriguez +1

RA-L 2024

Robotic manipulation of deformable linear objects (DLOs) has great potential for applications in diverse fields such as agriculture or industry. However, a major challenge lies in acquiring accurate deformation models that describe the relationship between robot motion and DLO deformations. Such mod

Cited by 16 Source ↗code ↗Scholar ↗

2024

Multidirectional slip detection and avoidance using dynamic 3D tactile meshes from visuotactile sensors

Peng Song, Juan Antonio Corrales Ramon, Youcef Mezouar

IROS 2024

Visuotactile sensors have gained attention during the last years in robotics because they are able to reconstruct with high precision the 3D contact shape (or mesh) between the robotic fingers and the object. A new slip detection and avoidance algorithm is proposed based on the dynamic variation of

Cited by 1 Source ↗Scholar ↗

2022

Dynamic Evaluation of Deformable Object Grasping

Peng Song, Juan Antonio Corrales Ramon, Youcef Mezouar

RA-L 2022

Deformable object grasping has great potential to improve the versatility of robotic manipulation and extend the applications of robotics. It has thus attracted more and more attentions and efforts from robotic community. Nevertheless, the deformation of objects during grasping leads to difficulties

Cited by 12 Source ↗Scholar ↗

2022

Tactile-Based Task Definition Through Edge Contact Formation Setpoints for Object Exploration and Manipulation

Zhanat Kappassov, Juan Antonio Corrales Ramon, Véronique Perdereau

RA-L 2022

In autonomous robot tasks involving physical contacts with the environment, it is still challenging to perform dexterous manipulation. Force control approaches and force sensors are usually used to control the actions of a robot. However, the spatial resolution of the force sensors is limited when e

Cited by 8 Source ↗Scholar ↗

2020

Monocular Visual Shape Tracking and Servoing for Isometrically Deforming Objects

Miguel Aranda, Juan Antonio Corrales Ramon, Youcef Mezouar, Adrien Bartoli, Erol Özgür

IROS 2020poster

We address the monocular visual shape servoing problem. This pushes the challenging visual servoing problem one step further from rigid object manipulation towards deformable object manipulation. Explicitly, it implies deforming the object towards a desired shape in 3D space by robots using monocula…

Cited by 40 Source ↗Scholar ↗