12 accepted papers
Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly generates smooth, near-optimal collision-free 3D Cartesian tr
Mission-critical operations, particularly in the context of Search-and-Rescue (SAR) and emergency response situations, demand optimal performance and efficiency from every component involved to maximize the success probability of such operations. In these settings, cellular-enabled collaborative rob…
We introduce a simple yet effective approach for dense depth reconstruction that operates directly on raw disparity data, eliminating the need for additional disparity refinement stages. By leveraging disparity maps generated from conventional stereo methods, we train a U-Net-based model to directly
In the automotive industry, several robots are required to simultaneously carry out welding sequences on the same vehicle. Coordinating and assigning welding points between robots is a manual and difficult phase that needs to be optimized using automatic tools. The cycle time of the cell strongly de
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 an unknown object based only on tactile and kinematic information. The tac…
This paper addresses the problem of obtaining human-like motions on hand-arm robotic systems performing grasping actions. The focus is set on the coordinated movements of the robotic arm and the anthropomorphic mechanical hand, with which the arm is equipped. For this, human movements performing dif…
This paper deals with the problem of combining motion and task assignment for a dual-arm robotic system. Each arm of the system performs independent tasks in a cluttered environment. Robot actions are determined to remove potential obstacles and obtain collision-free paths to grasp the target object…
This paper presents an algorithm to compute precision grasps for bulky objects using two anthropomorphic hands. We use objects modeled as point clouds obtained from a sensor camera or from a CAD model. We process the point clouds dividing them into two set of slices, one for each hand, where we look…
This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a force-closure (FC) immobilization, independently of the exact position of the finger. These regions allow a robust finger or fixture…
This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees of freedom, extending it to the velocity space and calling them first-order synergies. An automatic partition method is defined to optimally divide the configuration space into…
This work proposes an approach to manipulate unknown objects based on tactile information. The manipulation can have three goals: the optimization of the hand configuration, the optimization of the grasp quality and the optimization of the object configuration. Three different motion strategies are…
The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key idea of the proposal is the search of synergies of the dual-arm anthropomorphic…