Palomo Avellaneda, Leopold
Total activity: 4
Research group
SIR - Service and Industrial Robotics
Institute
Institute of Industrial and Control Engineering (IOC)
E-mail
leopold.palomoupc.edu
Contact details
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Scientific and technological production
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    The Kautham Project: A teaching and research tool for robot motion planning  Open access

     Rosell Gratacos, Joan; Pérez Ruiz, Alexander; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; García Hidalgo, Néstor
    IEEE International Conference on Emerging Technologies and Factory Automation
    p. 1-8
    Presentation's date: 2014-09-18
    Presentation of work at congresses

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    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.

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    A framework for robotized teleoperated tasks  Open access  awarded activity

     Basañez Villaluenga, Luis; Rosell Gratacos, Joan; Palomo Avellaneda, Leopold; Nuño, Emmanuel; Portilla, Henry
    Workshop Español de Robótica
    p. 573-580
    Presentation's date: 2011-11-28
    Presentation of work at congresses

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    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 framework.

    "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.

  • Nonlinear control and geometric constraint enforcement for teleoperated task execution

     Rodriguez Tsouroukdissian, Adolfo; Nuño, Emmanuel; Palomo Avellaneda, Leopold; Basañez Villaluenga, Luis
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    p. 5251-5257
    Presentation's date: 2010-10-18
    Presentation of work at congresses

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    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.

  • TELETAREA ROBOTIZADA COOPERATIVA EN RED

     Nuño Ortega, Emmanuel; Rodriguez Tsouroukdissian, Adolfo; Ayza Graells, Jordi; Flores Bazaldua, Ignacio; Palomo Avellaneda, Leopold; Rosell Gratacos, Joan; Riego Pérez, Albert; Basañez Villaluenga, Luis
    Competitive project

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