Rosell, J.; Pérez, A.; Akbari, A.; Ud Din, M.; Palomo, L.; Garcia, N. IEEE International Conference on Emerging Technologies and Factory Automation p. 1-8 Presentation's date: 2014-09-18 Presentation of work at congresses
This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base, i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios with mobile manipulators equipped with anthropomorphic hands. The main core of planners is provided by the Open Motion Planning Library (OMPL). Different basic planners can be flexibly used
and parameterized, allowing students to gain insight into the different planning algorithms. Among the advanced features the tool allows to easily define the coupling between degrees of freedom, the dynamic simulation and the integration with task planers. It is principally being used in the research of motion planning strategies for hand-arm robotic systems.
"Premio al mejor artículo presentado en ROBOT 2011" atorgat pel Grupo de Robótica, Visión y Control de la Universidad de Sevilla, la Universidad Pablo Olavide i el Centro Avanzado de Tecnologías Aeroespaciales.
Teleoperation systems allow the extension of the
human operator’s sensing and manipulative capability into a
remote environment to perform tasks at a distance, but the
time-delays in the communications affect the stability and
transparency of such systems. This work presents a teleoperation
framework in which some novel tools, such as nonlinear
controllers, relational positioning techniques, haptic guiding
and augmented reality, are used to increase the sensation
of immersion of the human operator in the remote site.
Experimental evidence supports the advantages of the proposed
This work presents a multimodal teleoperation
framework that makes use of novel tools and techniques,
such as: nonlinear teleoperators control, for ensuring position
tracking in the presence of variable time-delays; relational positioning,
for increasing operator performance on precise movement
execution by visually and haptically displaying geometric
constraints; and augmented reality, for visually combining real
and virtual information in a compelling way. Experimental
evidence is presented that validates the aptitude of the different
components of the proposed framework.