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  • SIR: Service and industrial robotics

     Suarez Feijoo, Raul; Rosell Gratacos, Joan; Peña Pitarch, Esteban; Mas Casals, Orestes Miquel; Palomo Avellaneda, Leopold; Claret Robert, Josep Arnau; Zaplana Agut, Isiah; Aldana Lopez, Carlos Ivan; Ruiz Parra, Sergi; Montaño Sarria, Andres Felipe; Rodriguez Pacheco, Carlos; Bashiruddin Ahmed, Muhayyuddin; Basañez Villaluenga, Luis
    Competitive project

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    cRRT*: Planning loosely-coupled motions for multiple mobile robots  Open access

     Rosell Gratacos, Joan; Suarez Feijoo, Raul
    IEEE International Conference on Emerging Technologies and Factory Automation
    p. 1-7
    Presentation's date: 2014-09-18
    Presentation of work at congresses

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    The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT planner has been proposed to cope with optimization problems, and has been proven to be asymptotically optimal. Any optimization function can be defined, although optimization has been usually focused on the traveled distance or on safety, i.e. to find paths of minimum length or maximum clearance. Other constraints to be considered are related to the coordinate movements of the robots, including aspects like keeping a desired formation o having some similar behavior. In this paper we propose the use of an RRT to optimize the traveled distance but subject to a coupled behavior between robots, i.e. it is desired that the robots behave as a group with similar or coordinated movements. To achieve so, a cost function has been defined that evaluates the alignment of the edges of the RRT with the vectors that define the coupling between the motion directions of the robots. The method establishes a compromise between the independence required to avoid obstacles in a flexible way and the desired coupling to behave as a team. The method is illustrated with several examples.

    The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT planner has been proposed to cope with optimization problems, and has been proven to be asymptotically optimal. Any optimization function can be defined, although optimization has been usually focused on the traveled distance or on safety, i.e. to find paths of minimum length or maximum clearance. Other constraints to be considered are related to the coordinate movements of the robots, including aspects like keeping a desired formation o having some similar behavior. In this paper we propose the use of an RRT to optimize the traveled distance but subject to a coupled behavior between robots, i.e. it is desired that the robots behave as a group with similar or coordinated movements. To achieve so, a cost function has been defined that evaluates the alignment of the edges of the RRT with the vectors that define the coupling between the motion directions of the robots. The method establishes a compromise between the independence required to avoid obstacles in a flexible way and the desired coupling to behave as a team. The method is illustrated with several examples.

  • Premi Robotnik 2013 al millor treball en l'àrea de robòtica

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    Award or recognition

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  • Path planning for grasping operations using an adaptive PCA-based sampling method

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Perez Ruiz, Alexander
    Autonomous robots
    Vol. 35, num. 1, p. 27-36
    DOI: 10.1007/s10514-013-9332-5
    Date of publication: 2013-07-01
    Journal article

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    The planning of collision-free paths for a handarm robotic system is a difficult issue due to the large number of degrees of freedom involved and the cluttered environment usually encountered near grasping configurations. To cope with this problem, this paper presents a novel importance sampling method based on the use of principal component analysis (PCA) to enlarge the probability of finding collisionfree samples in these difficult regions of the configuration space with low clearance. By using collision-free samples near the goal, PCA is periodically applied in order to obtain a sampling volume near the goal that better covers the free space, improving the efficiency of sampling-based path planning methods. The approach has been tested with success on a hand-arm robotic system composed of a four-finger anthropomorphic mechanical hand (17 joints with 13 independent degrees of freedom) and an industrial robot (6 independent degrees of freedom).

  • Object shape reconstruction based on the object manipulation

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    International Conference on Advanced Robotics
    p. 1-6
    Presentation's date: 2013-11-25
    Presentation of work at congresses

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    This paper presents an approach for the object shape reconstruction based on the object manipulation using tactile information and force feedback. The tactile information collected during the manipulation process and the kinematic information of the hand are used to identify points on the surface of the object in contact with the hand and thus allowing the object shape reconstruction. Distance invariants are measured on the reconstructed object shape in order to perform the object identification. The proposed approach was implemented using the Shunck Dexterous Hand (SDH2). Different tests were performed in real executions and some examples are presented in the paper.

  • Manipulación de objetos con dos dedos usando información táctil

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    Jornadas de Automática
    p. 618-625
    Presentation's date: 2013-09-04
    Presentation of work at congresses

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    La integraci on de sensores t actiles en manos rob oticas contribuye de forma importante a la creaci on de robots aut onomos capaces de interactuar con su entorno y manipular diferentes tipos de objetos, de los cuales pueden ser desconocidas sus caracter sticas f sicas, entre ellas su forma. En este trabajo se propone un m etodo para realizar la manipulaci on de objetos desconocidos, sujetados con dos dedos de la mano rob otica Schunk Dexterous Hand. Los dedos se usan para manipular el objeto cambiando su orientaci on, haciendo uso de la informaci on tactil extra da de los sensores instalados en la yema de los dedos. Los puntos de contacto sobre la super cie de las puntas de los dedos son modelados introduciendo una articulaci on virtual que agrega un grado de libertad a cada dedo. El art culo incluye tanto la descripci on de los desarrollos realizados como su aplicaci on en experimentos reales.

  • An on-line coordination algorithm for multi-robot systems

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    IEEE International Conference on Emerging Technologies and Factory Automation
    p. 1-7
    DOI: 10.1109/ETFA.2013.6648032
    Presentation's date: 2013-09-10
    Presentation of work at congresses

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    This paper proposes a solution to the problem of coordinating multi-robot systems, which execute individually planned tasks in a shared workspace. The presented approach is a decoupled method that can coordinate the participants robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of each robot along its original planned path according to the movements of the other robots to assure a collision free execution of their tasks. To assess the proposed approach a two robot system was used, and different tests were performed in graphical simulations as well as in real executions. Some examples are presented in the paper.

  • Grasp analysis and synthesis of 2D articulated objects with 2 and 3 links

     Alvarado Tovar, Noé; Suarez Feijoo, Raul
    IEEE International Conference on Emerging Technologies and Factory Automation
    p. 1-8
    DOI: 10.1109/ETFA.2013.6648034
    Presentation's date: 2013-09-10
    Presentation of work at congresses

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    This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with 2 and 3 links considering frictionless contacts. The boundary of each link of the object is represented with a finite set of points. The grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp. The grasp synthesis implies the determination of a set of contact points that allows a force-closure grasp. The paper describes how to find the elements of the generalized wrench vector generated by a force applied on any link of the articulated object. The approach have been implemented and some illustrative examples are included in the paper.

  • Hybrid mapping for the assistance of teleoperated grasping tasks

     Colasanto, Luca; Suarez Feijoo, Raul; Rosell Gratacos, Joan
    IEEE transactions on systems man and cybernetics Part A-systems and humans
    Vol. 43, num. 2, p. 390-401
    DOI: 10.1109/TSMCA.2012.2195309
    Date of publication: 2013-09-12
    Journal article

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    Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a simple direct mapping of the sensor readings from the glove to the robotic hand. This problem is addressed with different types of mapping, but none of them is of general use. This paper proposes two new mappings within two existing mapping types, as well as a new hybrid mapping that combines the best features of these existing mapping types. This hybrid mapping allows intuitive free space movements (where the gesture is more important than the precise positions of the fingers) and grasp movements (where the precise positions of the fingers is more important than the gesture), despite kinematic differences between the human hand and the robotic hand. The approach has been implemented, and some illustrative examples are presented in this paper.

  • Grasp Plannind under Task-specific Contact Constraints  Open access

     Rosales Gallegos, Carlos José
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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    Diversos aspectes han de ser abordats abans de fer realitat el somni d'un sistema robòtic format per un braç i una mà amb capacitats similars a les humanes, que van des de la consolidació d'un bon disseny mecatrònic, passant pel desenvolupament de sensors i motors precisos i lleugers, fins a la planificació i control eficient de les forces i moviments articulars necessaris per a la interacció amb l'ambient que li envolta. Aquesta tesi proporciona algorismes de solució per a un problema principal dintre de l'últim aspecte, conegut com la planificació d'una prensió: Donat un sistema robòtic format per una mà unida a un braç, i un objecte a subjectar, amb geometria i localització coneguda en l'espai de treball, determinar com el sistema robòtic ha de moure's sense col·lisionar amb si mateix o amb l'ambient que ho envolta, amb la finalitat d'agafar fermament l'objecte d'una manera adequada.La consideració explícita d'un conjunt donat de restriccions de contacte entre l'objecte i la mà és el centre dels nostres algorismes, i s'han de satisfer en la configuració de prensió final, i vénen imposades per la tasca de manipulació a realitzar amb l'objecte. Aquesta és una característica distintiva d'altres algorismes de planificació de prensió que es troben en la literatura, on no s'assegura la subjecció d'objectes en llocs particulars de contacte en la configuració resultant. Aquests algorismes convencionals són ràpids, i adequats per a la planificació de prensions que serveixen per a les operacions de recollida i col·locació d'objectes, però no per a la planificació de prensions requerides per a una manipulació específica de l'objecte, com les subjeccions d'una ploma, un parell de tisores, o un tornavís de joier, per exemple, quan s'escriu, es talla un paper, o es descargola, respectivament. Per a ser capaç de generar tals prensions, s'assumeix que un nombre de regions de la superfície en la mà es col·loca en contacte amb un nombre de regions corresponents en l'objecte, i es busca el compliment d'aquestes restriccions en les solucions obtingudes, a més de les restriccions habituals d'assolibilitat, restricció de moviments, manipulabilitat i evitar col·lisions.Els algorismes proposats es poden aplicar a mans robòtiques d'estructura arbitrària, possiblement tenint en compte la rigidesa de les articulacions i els contactes si es desitja, i poden tractar restriccions de contacte entre regions, en lloc dels tipus de contacte més restrictius ocasionalment considerats en la literatura. Val la pena notar també que, a pesar que s'han usat els índexos de tancament de força o manipulabilitat més comuns per a avaluar la qualitat de la prensió, no s'han fet assumpcions específiques sobre les propietats matemàtiques d'aquests índexos, de manera que qualsevol criteri de qualitat es pot tractar en principi. Els algorismes s'han provat i validat en nombroses situacions reals que impliquen mans mecàniques i objectes típics, i es poden trobar aplicacions en contextos clàssics o emergents com la robòtica de serveis, la telemedicina, l'exploració de l'espai, pròtesi, manipulació en entorns perillosos o d'interacció humà-robot en general.

    Several aspects have to be addressed before realizing the dream of a robotic hand-arm system with human-like capabilities, ranging from the consolidation of a proper mechatronic design, to the development of precise, lightweight sensors and actuators, to the efficient planning and control of the articular forces and motions required for interaction with the environment. This thesis provides solution algorithms for a main problem within the latter aspect, known as the {\em grasp planning} problem: Given a robotic system formed by a multifinger hand attached to an arm, and an object to be grasped, both with a known geometry and location in 3-space, determine how the hand-arm system should be moved without colliding with itself or with the environment, in order to firmly grasp the object in a suitable way. Central to our algorithms is the explicit consideration of a given set of hand-object contact constraints to be satisfied in the final grasp configuration, imposed by the particular manipulation task to be performed with the object. This is a distinguishing feature from other grasp planning algorithms given in the literature, where a means of ensuring precise hand-object contact locations in the resulting grasp is usually not provided. These conventional algorithms are fast, and nicely suited for planning grasps for pick-an-place operations with the object, but not for planning grasps required for a specific manipulation of the object, like those necessary for holding a pen, a pair of scissors, or a jeweler's screwdriver, for instance, when writing, cutting a paper, or turning a screw, respectively. To be able to generate such highly-selective grasps, we assume that a number of surface regions on the hand are to be placed in contact with a number of corresponding regions on the object, and enforce the fulfilment of such constraints on the obtained solutions from the very beginning, in addition to the usual constraints of grasp restrainability, manipulability and collision avoidance. The proposed algorithms can be applied to robotic hands of arbitrary structure, possibly considering compliance in the joints and the contacts if desired, and they can accommodate general patch-patch contact constraints, instead of more restrictive contact types occasionally considered in the literature. It is worth noting, also, that while common force-closure or manipulability indices are used to asses the quality of grasps, no particular assumption is made on the mathematical properties of the quality index to be used, so that any quality criterion can be accommodated in principle. The algorithms have been tested and validated on numerous situations involving real mechanical hands and typical objects, and find applications in classical or emerging contexts like service robotics, telemedicine, space exploration, prosthetics, manipulation in hazardous environments, or human-robot interaction in general.

  • Búsqueda de prensiones con force-closure de objetos 2D articulados con 2 eslabones

     Alvarado Tovar, Noé; Suarez Feijoo, Raul
    Jornadas de Automática
    p. 626-633
    Presentation's date: 2013-09-04
    Presentation of work at congresses

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    Este trabajo propone un procedimiento por medio del cual se puede encontrar una prensión localmente óptima en objetos articulados 2D con 2 eslabones y considerando contactos sin fricción.La superficie de cada eslabón del objeto se representa con un conjunto finito de puntos. El enfoque propuesto encuentra en primer lugar una prensión inicial con force-closure. La medida de calidad considerada en este trabajo es el vector de fuerzas generalizadas mayor que una prensión puede resistir con independencia de la dirección de la perturbación. Este artículo describe cómo encontrar los elementos del vector de fuerzas generalizadas generada por una fuerza aplicada en cualquier eslabón del objeto articulado. El enfoque ha sido implementado y algunos ejemplos ilustrativos se incluyen en el artículo.

  • Manipulation tasks with a dual arm system including obstacles removing

     Rodriguez Pacheco, Carlos; Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    IEEE International Conference on Emerging Technologies and Factory Automation
    p. 1-7
    DOI: 10.1109/ETFA.2013.6648033
    Presentation's date: 2013-09-10
    Presentation of work at congresses

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    The paper deals with the problem of planning movements of a two-hand system, considering the possibility of using one hand to remove potential obstacles in order to grasp a desired object with the other hand. The approach is based on a Probabilistic Road Map that does not rule out samples implying collisions with removable objects but instead classify them according to the collided obstacle(s), and allows the search of free paths with the indication of which objects must be removed from the workspace to make the path be actually valid. The approach has been implemented and different tests were performed with considering a real two-hand robotic system with one hand in charge of grasping a desired object and the other in charge of removing the potential obstacles. Some running examples both in simulation and a real workcell are presented in the paper using simulations and real experimentations.

  • Safe teleoperation of a dual hand-arm robotic system

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Pérez Ruiz, Alexander
    Iberian Robotics Conference
    p. 615-630
    DOI: 10.1007/978-3-319-03653-3_44
    Presentation's date: 2013-11-28
    Presentation of work at congresses

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    This paper introduces a supervised teleoperation system to cope with some of the main problems that arise in the teleoperation of hand-arm robotic systems. The set-up consists of two magnetic trackers and two sensorized gloves that command, respectively, two industrial robots and the mechanical hands with which they are equipped. The basic mapping aspects both at hand and arm level are discussed, as well as the communication issues related with the implementation done based on ROS (Robot Operating System). The risk of collisions and of reaching singular configurations, either internal or due to the workspace limits, is controlled by monitoring the state of the hand-arm system and stoping it when necessary. An automatic re-synchronization procedure allows to resume the teleoperation as soon as the risk has disappeared, and also permits the user to change the mapping when his/her posture becomes uncomfortable. The resulting system allows an intuitive, simple and safe teleoperation of a dual hand-arm robotic system.

  • Búsqueda de caminos libres de colisiones para un sistema bimanual considerando la eliminación de obstáculos movibles

     Rodriguez Pacheco, Carlos; Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    Jornadas de Automática
    p. 721-728
    Presentation's date: 2012-09-05
    Presentation of work at congresses

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    Este artículo aborda el problema de la planificación de movimientos de un sistema de dos manos para la sujeción un objeto con una mano utilizando la otra mano para quitar los posibles obstáculos que se encuentren en la trayectoria hacia la meta. Este enfoque se basa en Mapas de Carreteras Probabilístico (del inglés, Probabilistic Road Maps (PRM)), con la particularidad de que no se descartan las muestras en colisión con objetos movibles, sino que son clasificadas y etiquetadas de acuerdo con el obstáculo con que colisiona,y se permite la búsqueda de caminos considerando los obstáculos movibles que deben ser quitados del espacio de trabajo para obtener una ruta de acceso válida. El método ha sido implementado y se presentan diferentes pruebas utilizando un modelo virtual del sistema bimanual,teniendo en cuenta que uno de los robots es el que se encarga de sujetar el objeto deseado (meta) y el otro de quitar los obstáculos encontrados.

  • Instrumento quirúrgico de sutura para anastomosis automática del tubo digestivo

     Tornero Garcia, Jose Antonio; Suarez Feijoo, Raul; Cano Casas, Francisco; Montaño Sarria, Andres Felipe; Lopez Cano, Manuel
    Jornadas de Automática
    p. 833-838
    Presentation's date: 2012-09-05
    Presentation of work at congresses

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    En la cirugía digestiva, una anastomosis del intestino consiste en la reconstrucción del tubo digestivo por unión de dos cabos tras la resección de una porción del mismo. Este procedimiento, de común aplicación en diversos tipos de intervención quirúrgica se realiza actualmente mediante la aplicación de grapas metálicas debido a la complejidad inherente de la realización de una sutura manual. La automatización del proceso de sutura mediante un dispositivo diseñado a tal efecto supondría una notable mejora en el procedimiento quirúrgico asociado y posteriormente en la calidad de vida del paciente, ya que las grapas metálicas empleadas actualmente presentan diversos inconvenientes. El diseño de este dispositivo presenta gran complejidad debido al rigor de los requisitos funcionales y a la complejidad del entorno de funcionamiento así como las características de los materiales que intervienen en el proceso.En el presente trabajo se describe el desarrollo de un prototipo de dispositivo para anastomosis automática mediante sutura, evaluando su funcionalidad a nivel de laboratorio, con objeto de probar su validez

  • Coordinación temporal de dos robots manipuladores

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    Jornadas de Automática
    p. 751-758
    Presentation's date: 2012-09-05
    Presentation of work at congresses

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    En este artículo se presenta un método de coordinación de movimientos en tiempo real que permite que dos robots industriales equipados con manos robóticas puedan ejecutar simultáneamente tareas de manipulación de objetos en una celda de trabajo compartida, evitando las posibles colisiones debidas a la planificación desacoplada de los movimientos de cada robot. Para ilustrar el método propuesto se muestran experimentos en los que se asignó a cada robot la tarea de retirar objetos de un mesa para llevarlos a una posición donde los puede recibir un operario.

  • Determining force-closure grasps reachable by a given hand

     Gilart González, Fidel; Suarez Feijoo, Raul
    Symposium on Robot Control
    p. 235-240
    DOI: 10.3182/20120905-3-HR-2030.00043
    Presentation's date: 2012-09-05
    Presentation of work at congresses

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    The paper presents an approach to find contact points on an object surface that are reachable by a given hand and such that the resulting grasp satisfies the force-closure condition. This is a very common problem that still requires a practical solution. The proposed method is based on the computation of a set of independent contact regions on the object boundary such that a finger contact on each region produces a force-closure grasp, and then this set of regions is iteratively recomputed while looking for a set of contact points that are reachable by a given hand. The search is done guided by a cost function that indicates the proximity of the hand fingertips to a candidate set of grasping contact points. The approach has been implemented for the Schunk Anthropomorphic Hand and planar objects,and application examples are included to illustrate its performance.

  • On the synthesis of feasible and prehensile robotic grasps

     Rosales Gallegos, Carlos; Suarez Feijoo, Raul; Gabiccini, Marco; Bicchi, Antonio
    IEEE International Conference on Robotics and Automation
    p. 550-556
    DOI: 10.1109/ICRA.2012.6225238
    Presentation's date: 2012
    Presentation of work at congresses

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    This work proposes a solution to the grasp synthesis problem, which consist of finding the best hand configuration to grasp a given object for a specific manipulation task while satisfying all the necessary constraints. This problem had been divided into sequential sub-problems, including contact region determination, hand inverse kinematics and force distribution, with the particular constraints of each step tackled independently. This may lead to unnecessary effort, such as when one of the problems has no solution given the output of the previous step as input. To overcome this issue, we present a kinestatic formulation of the grasp synthesis problem that introduces compliance both at the joints and the contacts. This provides a proper framework to synthesize a feasible and prehensile grasp by considering simultaneously the necessary grasping constraints, including contact reachability, object restraint, and force controllability. As a consequence, a solution of the proposed model results in a set of hand configurations that allows to execute the grasp using only a position controller. The approach is illustrated with experiments on a simple planar hand using two fingers and an anthropomorphic robotic hand using three fingers.

  • Instrumento quirúrgico de sutura para anastomosis del tubo digestivo

     Tornero Garcia, Jose Antonio; Suarez Feijoo, Raul; Lopez Cano, Manuel
    Date of request: 2012-08-01
    Invention patent

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    Instrumento quirúrgico de sutura para anastomosis.

    El instrumento comprende unos medios de sujeción para sujetar dos partes anulares de un tejido tubular a suturar, con sus caras exteriores en contacto, en una interfaz (25) entre un cuerpo principal (10) y un cabezal (20), un mecanismo de vaivén alojado en el cuerpo principal (10) que mueve una aguja de sutura (3) con un hilo de sutura (H) enhebrado en su ojo (3a) a través de la interfaz (25), atravesando las dos partes anulares del tejido tubular, un mecanismo de enlace que mueve un áncora (4) alojada en el cabezal (20) en coordinación con el movimiento de vaivén de la aguja de sutura (3), y un mecanismo de avance que hace girar los mecanismos de vaivén y de enlace alrededor de un eje longitudinal (E). El áncora (4) coopera con la aguja de sutura (3) dentro del cabezal (4) para realizar la sutura mediante el hilo (H).

  • Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Rosales Gallegos, Carlos; Perez Ruiz, Alexander
    Autonomous robots
    Vol. 31, num. 1, p. 87-102
    DOI: 10.1007/s10514-011-9232-5
    Date of publication: 2011-07
    Journal article

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    The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” to reduce the dimension of the search space in order to obtain results with a compromise between motion optimality and planning complexity (time). Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a probabilistic roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand (17 joints with 13 independent degrees of freedom) assembled on an industrial robot (6 independent degrees of freedom), and experimental examples are included to illustrate its validity.

  • Access to the full text
    Synthesizing grasp configurations with specified contact regions  Open access

     Rosales Gallegos, Carlos; Ros Giralt, Lluis; Porta Pleite, Josep M.; Suarez Feijoo, Raul
    International journal of robotics research
    Vol. 30, num. 4, p. 431-443
    DOI: 10.1177/0278364910370218
    Date of publication: 2011
    Journal article

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    This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the one presented here allows specifing such contacts between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experi- ments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand.

  • Sistemas Multi-mano para tareas complejas de manipulación robotizada

     Peña Pitarch, Esteban; Al Omar Mesnaoui, Anas; Alcelay Larrion, Jose Ignacio; Felipe Blanch, Jose Juan de; Suarez Feijoo, Raul
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  • Sistema multi-mano para tareas complejas de manipulación robotizada

     Al Omar Mesnaoui, Anas; Suarez Feijoo, Raul; Alcelay Larrion, Jose Ignacio
    Competitive project

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    Planificación de movimientos para conjuntos mano-brazo con numerosos grados de libertad  Open access

     Suarez Feijoo, Raul; Rosell Gratacos, Joan
    Workshop Español de Robótica
    p. 512-519
    Presentation's date: 2011-11-28
    Presentation of work at congresses

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    Con el objetivo de avanzar hacia la emulaci ´on de las capacidades y destreza de la mano humana se est ´an desarrollando manos rob´oticas con prestaciones muy superiores a las tradicionales pinzas usadas en la rob´otica industrial. El uso de estas manos rob´oticas conlleva asociados nuevos retos, y entre ellos est ´a el de la planificaci ´on eficiente de sus movimientos, ya que aunque algunos m´etodos de planificaci ´on tradiciones podr´ıan ser v´alidos, su aplicaci ´on pr´actica es limitada debido sobre todo al elevado n´umero de grados de libertad que tiene un sistema rob´otico que incluya una mano antropomorfa montada sobre un brazo manipulador. Este art´ıculo presenta un enfoque que permite soluciones suficientemente eficientes para ser utilizadas en la pr´actica. El enfoque propuesto est ´a basado en la reducci ´on de la dimensi ´on del espacio de b´usqueda y en la utilizaci ´on de t´ecnicas de muestreo para generar movimientos del conjunto mano-brazo en entornos con obst ´aculos que pueden imponer fuertes restricciones en la b´usqueda de movimientos sin colisi ´on, como sucede normalmente cuando la mano se acerca a un objeto para su sujeci ´on y manipulaci ´on. Los desarrollos te´oricos han sido implementados tanto en simulaci ´on como en un sistema f´ısico real, por lo que se incluyen resultados experimentales reales.

  • Including virtual constraints in motion planning for anthropomorphic hands

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Perez Ruiz, Alexander; Rosales Gallegos, Carlos
    IEEE International Symposium on Assembly and Manufacturing
    Presentation's date: 2011-05
    Presentation of work at congresses

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    This paper copes with the problem of finding a collision-free path for a hand-arm robotic system from an initial unconstrained configuration to a final grasping (or preshape) one. The aim is to obtain a natural motion as a sequence of human-like postures that both capture the coupling that there exist between the fingers of the human hand and also maintain the palm oriented towards the object to be grasped. The proposed method is a sampling-based approach whose efficiency relies in the reduction of the dimensionality obtained by considering, for the finger joints, a subspace determined by the main principal motion directions that capture the coupling and, for the position and orientation of the palm, the submanifold that satisfies the orientation constraint. The approach is illustrated with an example and compared to the case where no virtual constrains are used, validating the proposal.

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    Teleoperación de manos antropomorfas  Open access

     Suarez Feijoo, Raul; Rosell Gratacos, Joan; Colasanto, Luca
    Workshop Español de Robótica
    p. 588-594
    Presentation's date: 2011-11-28
    Presentation of work at congresses

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    Un escenario ideal para la teleoperaci´on de manos antropomorfas es que el operador humano pueda realizar una determinada operaci´on con sus propias manos y el sistema rob´otico teleoperado provisto de una mano antropomorfa la replique. Actualmente ya existen manos mec´anicas antropomorfas con numerosos grados de libertad y la posibilidad de dirigir sus acciones de forma remota es viable, pero, sin embargo, la imposibilidad de que la cinem´atica de la mano rob´otica sea totalmente equivalente a la de cualquier humano genera un problema significativo en el esquema de teleoperaci´on mencionado. La respuesta a c´omo se deben reproducir los movimientos de la mano humana en la mano rob´otica para que ´esta realice la misma tarea no es lo evidente que en principio pudiera parecer. En este contexto, este art´ıculo presenta dos proyecciones de movimientos de la mano humana a la mano rob´otica que tienen como fin facilitar las tareas de telemanipulaci ´on. Ambas proyecciones han sido implementadas y en el art´ıculo se incluyen ejemplos de resultados experimentales.

  • Importance Sampling based on Adaptive Principal Component Analysis

     Rosell Gratacos, Joan; Cruz, Luis; Perez Ruiz, Alexander; Suarez Feijoo, Raul
    IEEE International Symposium on Assembly and Manufacturing
    Presentation's date: 2011-05
    Presentation of work at congresses

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    Sampling-based approaches are currently the most efficient ones to solve path planning problems, being their performance dependant on the ability to generate samples in those areas of the configuration space relevant to the problem. This paper introduces a novel importance sampling method that uses Principal Component Analysis to focalize the region where to sample in order to increase the probability of finding collision-free configurations. The proposal is illustrated with a 2D configuration space with a narrow passage and compared to the uniform random sampling method.

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    Influence of Contact Types and Uncertainties in the Computation of Independent Contact Regions  Open access

     Suarez Feijoo, Raul; Roa, Máximo Alejandro
    IEEE International Conference on Robotics and Automation
    p. 3317-3323
    Presentation's date: 2011-05-09
    Presentation of work at congresses

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    Independent Contact Regions provide robustness in front of finger positioning errors during an object grasping. However, different sources of uncertainty may be present like, for instance, the friction model used in grasp planning, indetermination of the friction coefficients, and errors in the model of the object that affect the positions of the boundary points as well as the direction normal to the object surface. These sources have not been previously considered in the computation of the Independent Contact Regions. This paper discusses how to take into account these factors when computing the Independent Contact Regions for discretized objects, i.e. objects described with a cloud or a mesh of points. The considerations provided allow a more robust result for application in grasp synthesis and regrasp planning.

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    Efficient and practical determination of grasping congurations for anthropomorphic hands  Open access

     Claret, Josep Arnau; Suarez Feijoo, Raul
    World Congress of the International Federation of Automatic Control
    p. 14660-14666
    Presentation's date: 2011-08-29
    Presentation of work at congresses

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    The paper presents a methodology to rapidly solve the inverse kinematics of anthropomorphic hands, which is particularized for a mechanical hand considering 27 degrees of freedom. Given the contact points and normal directions on an object surface, the proposed algorithm nds the joint values and the wrist position and orientation that make the ngertips satisfy the contact constraints. The approach combines an iterative algorithm with an o - line analysis that allows signi cant reductions of the execution time. The approach has been implemented and the paper includes application examples. The e ectiveness and fast execution of the algorithm is demonstrated with statistical results.

  • Frontiers of assemby and manufacturing

    DOI: 10.1007/978-3-642-14116-4
    Date of publication: 2010-09-01
    Book

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  • EUROPEAN CLEARING HOUSE FOR OPEN ROBOTICS DEVELOPMENT

     Suarez Feijoo, Raul
    Competitive project

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  • Development of a robotic manipulator of human tubular tissues for suture and support in anastomosis surgery interventions (ECHORD-INSEWING)

     Tornero Garcia, Jose Antonio; Suarez Feijoo, Raul; Cano Casas, Francisco; Fresno Chamarro, Jose; Domenech Trujillo, Maria Carmen
    Competitive project

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  • DESARROLLO DE SISTEMAS DE GULADIO EN LA BRONCOSCOPIA(GUIBROD) PARA EL DIAGNÓSTICO DEL NÓDULO PULMONAR PERIFÉRICO

     Basañez Villaluenga, Luis; Suarez Feijoo, Raul; Riego Pérez, Albert; Perez Ruiz, Alexander; Rosell Gratacos, Joan
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  • Fixturing, grasping and manipulation in assembly and manufacturing

     Suarez Feijoo, Raul
    DOI: 10.1007/978-3-642-14116-4
    Date of publication: 2010-09-01
    Book chapter

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  • Contact trajectories for regrasp planning on discrete objects

     Roa Garzón, Máximo; Suarez Feijoo, Raul
    DOI: 10.1007/978-3-642-14116-4
    Date of publication: 2010-09-01
    Book chapter

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  • Automatic determination of fixturing points: quality analysis for different number of points and friction values

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Penalba, Francesc
    DOI: 10.1007/978-3-642-14116-4
    Date of publication: 2010-09-01
    Book chapter

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    Study of coordinated motions of the human hand for robotic applications  Open access

     Sun, Shao-Chun; Rosales Gallegos, Carlos; Suarez Feijoo, Raul
    IEEE International Conference on Information and Automation
    p. 776-781
    DOI: 10.1109/ICINFA.2010.5512463
    Presentation's date: 2010
    Presentation of work at congresses

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    This paper presents an acquisition method that comprehensively looks for the mimic configurations of the human hand. The data obtained through this process is further analyzed, transformed, and then used to synthesize a reduced configuration space of a robot anthropomorphic hand. The method rely on a dimensionality reduction technique that provides a new basis of the full configuration space, from which one can select a subset of the vectors forming that basis, and finally obtaining a simpler configuration subspace. These vectors are called Principal Motion Directions, and represent the coordinated motions captured by a sensorized glove on a human hand and transferred to the robot hand. The characteristics and limitations of the subspace are discussed, as well as its application in several scenarios within robotics such as the motion planning of robot hands, where the subspace has been successfully implemented and executed.

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    General environment for human interaction with a robot hand-arm system and associate elements  Open access

     Fortín, José; Suarez Feijoo, Raul
    IEEE International Conference on Emerging Technologies and Factory Automation
    p. 34-39
    DOI: 10.1109/ETFA.2010.5641453
    Presentation's date: 2010-09-13
    Presentation of work at congresses

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    Software development in robotics is a complex task due to the existing heterogeneity in terms of hardware, communications, and programming languages that are used in current robotic systems. In this work a general environment for the interaction between the human operator and different elements in a robotized cell is presented, such that all the involved elements can be easily managed from a unique interface. The aim of the developments is to provide a common frame that can be ported to different operating systems and can be easily extended or adapted to new devices.

  • Finding locally optimum force-closure grasps

     Máximo, A Roa; Suarez Feijoo, Raul
    Robotics and computer-integrated manufacturing
    Vol. 25, num. 3, p. 536-544
    DOI: 10.1016/j.rcim.2008.02.008
    Date of publication: 2009-06
    Journal article

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    Efficient determination of four-point form-closure optimal constraints of polygonal objects  Open access

     Cornellà, Jordi; Suarez Feijoo, Raul
    IEEE transactions on automation science and engineering
    Vol. 6, num. 1, p. 121-130
    DOI: 10.1109/TASE.2008.916771
    Date of publication: 2009-01
    Journal article

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    This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions of the applied forces, which are then used to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to find a root of a nonlinear equation). This procedure is used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown. Note to Practitioners—This paper presents an algorithm that improves previous approaches in terms of efficiency in the determination of the optimal object constraint maximizing the minimum wrench that the object can support in any direction. The problem can always be solved using numerical optimization techniques but when time is relevant an efficient algorithm becomes of interest. Practical applications include optimal determination of fixtures and object grasps.

  • Computation of independent contact regions for grasping 3-D objects

     Roa, MA; Suarez Feijoo, Raul
    IEEE transactions on robotics
    Vol. 25, num. 4, p. 839-850
    Date of publication: 2009-08
    Journal article

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    Efficient search of obstacle-free paths for anthropomorphic hands  Open access

     Suarez Feijoo, Raul; Rosell Gratacos, Joan; Perez Ruiz, Alexander; Rosales Gallegos, Carlos
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    p. 1773-1778
    Presentation's date: 2009-10-12
    Presentation of work at congresses

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    The planning of collision-free motions of a handarm system to reach a grasp or preshape configuration is not a simple issue due to the high number of involved degrees of freedom. This paper presents an efficient sampling-based path planner that copes with this issue by considering a reduced search space. The dimension of this space is not fixed but it is iteratively increased according to the difficulty of the task at hand. Initially the search space is 1-dimensional along the line defined by the initial and goal hand configurations (by construction those configurations always belong to the search space), and then its dimension is increased by iteratively adding principal motion directions (that couple the finger motions), trying in this way to produce hand movements through anthropomorphic natural postures.

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    Motion planning for high DOF anthropomorphic hands  Open access

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Rosales Gallegos, Carlos; Garcia, Jorge Alberto; Perez Ruiz, Alexander
    IEEE International Conference on Robotics and Automation
    p. 4025-4030
    Presentation's date: 2009
    Presentation of work at congresses

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    The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search space in order to obtain results as a compromise between motion optimality and planning complexity (time) by means of the concept of principal motion directions. Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a sampling-based roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand, and some examples are included to illustrate its validity.

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    Searching a valid hand configuration to perform a given grasp  Open access

     Suarez Feijoo, Raul; Claret, Josep-Arnau
    International Symposium on Robotics
    p. 151-156
    Presentation's date: 2009-03-10
    Presentation of work at congresses

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  • Analysis of fixturing quality for a variable number of fixturing points and friction values

     Penalba, Francesc; Rosell Gratacos, Joan; Suarez Feijoo, Raul
    IEEE International Symposium on Assembly and Manufacturing
    p. 34-39
    Presentation's date: 2009-11-17
    Presentation of work at congresses

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  • Grasp Planning Methodology for 3D Arbitrary Shaped Objects.

     Roa Garzón, Máximo Alejandro
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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  • Teleoperation

     Basañez Villaluenga, Luis; Suarez Feijoo, Raul
    DOI: 10.1007/978-3-540-78831-7
    Date of publication: 2009
    Book chapter

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    Regrasp planning in the grasp space using independent regions  Open access

     Roa Garzón, Máximo; Suarez Feijoo, Raul
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    p. 1823-1829
    Presentation's date: 2009-10-11
    Presentation of work at congresses

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    This paper presents an approach for quasi-static regrasp planning using n fingers, taking advantage of a method that quickly explores the grasp space for discrete objects. The approach relies on a sampling method, which provides samples of force-closure or non force-closure grasps used to compute regions of the graspable or non-graspable space, respectively. The regrasp contact points generated assure that a force-closure grasp is always possible when performing the regrasp motions. Application examples are included to show the relevance of the results.

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    Regrasp planning for discrete objects  Open access

     Roa Garzón, Máximo; Suarez Feijoo, Raul
    IEEE International Symposium on Assembly and Manufacturing
    p. 22-27
    DOI: 10.1109/ISAM.2009.5376937
    Presentation's date: 2009-11-17
    Presentation of work at congresses

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    This paper proposes an algorithm for regrasp planning of 2D and 3D discrete objects, such that the regrasp trajectory ensures a force-closure (FC) grasp while the regrasp motion is performed. The approach takes advantage of a method that quickly explores the grasp space, and relies on the use of independent contact regions and non-graspable regions, which provide large regions of the FC or non-FC subspaces starting from a single sample. Application examples are included to show the relevance of the results.

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    Mixed-model sequencing problem with overload minimization considering workstations dependencies  Open access

     Bautista Valhondo, Joaquin; Suarez Feijoo, Raul
    IEEE International Symposium on Assembly and Manufacturing
    p. 351-357
    Presentation's date: 2009-11-17
    Presentation of work at congresses

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    Abstract—This paper reviews the formulation of the Mixed Model Sequencing Problem with Workload minimization (MMSP-W). Two significative models already presented in the literature are describe, showing that they are valid for the case of parallel workstations, but do not properly solve the case of serial workstations. After that, a new model is introduced that is valid for the case of serial workstations. An example is used to illustrate the performance of all the models, and a computational experience was done to verify the applicability of the proposed model using the solver CPLEX and a set of problem instances of small dimension adapted from the literature.