A5019436509- Robot Manipulation and Learning
- Robotic Path Planning Algorithms
- Robotic Mechanisms and Dynamics
- Robotic Locomotion and Control
- Manufacturing Process and Optimization
- Parathyroid Disorders and Treatments
- Human Motion and Animation
- Reinforcement Learning in Robotics
- Mexican Socioeconomic and Environmental Dynamics
- Health, Nursing, Elderly Care
- Educational Research and Science Teaching
- Cardiac Arrhythmias and Treatments
- Indigenous Health and Education
- Stress and Burnout Research
- Systemic Lupus Erythematosus Research
- Amyloidosis: Diagnosis, Treatment, Outcomes
- Robotics and Automated Systems
- Advanced Numerical Analysis Techniques
- Obesity, Physical Activity, Diet
- AI-based Problem Solving and Planning
- Modular Robots and Swarm Intelligence
- Sarcoidosis and Beryllium Toxicity Research
- Robotics and Sensor-Based Localization
- Human Pose and Action Recognition
- Prosthetics and Rehabilitation Robotics
Universidad Santo Tomás
2023
Universitat Politècnica de Catalunya
2014-2020
Polytechnic University of Puerto Rico
2019
This paper presents the software tool used at Institute of Industrial and Control Engineering (IOC-UPC) for teaching research in robot motion planning. The allows to cope with problems one or more robots, being a generic defined as kinematic tree mobile base, i.e. can plan simulate from simple two degrees freedom free-flying robots multi-robot scenarios manipulators equipped anthropomorphic hands. main core planners is provided by Open Motion Planning Library (OMPL). Different basic be...
This paper presents a planning procedure that allows an anthropomorphic dual-arm robotic system to perform manipulation task in natural human-like way by using demonstrated human movements. The key idea of the proposal is convert trajectories into attractive potential fields defined over configuration space and then use RRT*-based algorithm minimizes path-cost function designed bias tree growth toward human-demonstrated configurations. description proposed approach as well results from...
The paper deals with the problem of planning movements dual-arm anthropomorphic systems, aim reducing computational cost and making look as human-like possible. key idea proposal is search synergies system in order to use them reduce dimension space while preserving appearance. This was already developed successfully used plan robotic hands, thus extension a attractive. presents description proposed approach well real experimental results that encourage doing further research this line.
This paper discusses motion planning for anthropomorphic dual-arm robots. It introduces a measure of the similarity movements needed to solve two given tasks. Planning using this select proper arm synergies task improves performance and resulting plan.
This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees freedom, extending it to velocity space and calling them first-order synergies. An automatic partition method is defined optimally divide configuration into cells where are significantly different. Using this partition, an algorithm tends grow tree by branches in directions determined cell leaf be grown lies introduced called FOS-RRT. allows natural expansion along data...
This paper presents an experimental mobile manipulator composed of a dual-arm torso with human-like structure assembled on omnidirectional platform. The system integrates several commercial devices: two arms UR5 6 degrees freedom, each one equipped Allegro Hand four fingers and total 16 fingertip provided tactile sensor. platform has circular shape three wheels, original special design, whose coordinated movements allow displacements the It is laser-range sensors, radio positioning RGB-D...
The challenge in combined task and motion planning (TAMP) is the effective integration of a search over combinatorial space, usually carried out by planner, continuous configuration planner. Using planners for testing feasibility plans filling details not because it makes geometrical constraints play passive role. This work introduces new interleaved approach integrating two dimensions TAMP that use sketches, recent simple but powerful language expressing decomposition problems into...
The paper deals with the problem of designing an RRT*-based planning algorithm that allows user to guide tree growth in a simple and transparent way. key idea proposal is create algorithm, called HG-RRT*, minimizes optimization function over configuration space where state cost established. This defined as combination several potential fields. Each these fields will attract solution path or move it away from certain areas. try minimize length, motion effort variations along path. presents...
This paper addresses the problem of obtaining required motions for a humanoid robot to perform grasp actions trying mimic coordinated hand–arm movements humans do. The first step is data acquisition and analysis, which consists in capturing human while grasping several everyday objects (covering four possible types), mapping them computing hand motion synergies pre-grasp phases (per type). Then, synthesis done, generating potential grasps given object using family types, planning...
We consider the problem of optimal charging heterogeneous plug-in electric vehicles (PEVs).We approach as a multi-agent game in presence constraints and formulate an auxiliary minimization program whose solution is shown to be unique Nash equilibrium PEV control game, for any finite number possibly agents.Assuming that parameters defining each vehicle are drawn randomly from given distribution, we show that, agents tends infinity, value achieved by social optimum cooperative counterpart...
This paper addresses the problem of obtaining human-like motions with an anthropomorphic dual-arm torso assembled on a mobile platform. The focus is set coordinated movements robotic arms and robot base while approaching table to subsequently perform bimanual manipulation task. For this, human are captured mapped in order compute synergies. Since demonstrated synergies change depending position, recursive Cartesian-space discretization presented based these differences. Thereby, different...
<p>Este artículo describe un manipulador móvil, bimanual y con capacidad de manipulación diestra denominado MADAR (de <em>Mobile Anthropomorphic Dual-Arm Robot</em>). Básicamente puede dividirse en dos partes, una base móvil estructura superior portando brazos configuración antropomorfa manos mecánicas diestras equipadas sensores táctiles. La base, completamente desarrollo propio, es forma circular tiene tres ruedas diseño novedoso que permiten movilidad omnidireccional....
This paper addresses the problem of obtaining human-like motions on hand-arm robotic systems performing grasping actions. The focus is set coordinated movements arm and anthropomorphic mechanical hand, with which equipped. For this, human different grasps are captured mapped to robot in order compute hand synergies. These synergies used both obtain reduce complexity planning phase by reducing dimension search space. In addition, proposes a sampling-based planner, guides motion following...
Este estudio analiza la sequía en el municipio de Tulum, Quintana Roo, utilizando Índice estandarizado precipitación (SPI), desarrollado por McKee y colaboradores (1993,1995), que es ampliamente utilizado monitoreo debido a su simplicidad eficacia para analizar periodos húmedos secos. Se emplearon 43 años datos CHIRPS (1981 julio 2024) procesados Google Earth Engine®. Los resultados muestran tendencia del fenómeno lo largo tiempo. identificaron extrema 1986 1989, con impactos agricultura,...
Objetivo. Describir y comparar el estado nutricional de estudiantes universitarios wixaritári mestizos a través indicadores antropométricos. Métodos. Estudio descriptivo transversal. A cada estudiante se le tomaron las mediciones antropométricas peso, talla, circunferencia media brazo, cadera, cintura, diámetro humeral, pliegue cutáneo bicipital, tricipital, subescapular suprailíaco, obtuvieron los índices antropométricos: índice masa corporal, cintura riesgo cardiovascular por ICC,...