Papers by Angel Del Pobil
A practical approach to collision detection between general objects
Robotics and Automation, …, Jan 1, 1996
Page 1. Proceedings of the 1996 IEEE International Conference on Robotics and Automation Minneapo... more Page 1. Proceedings of the 1996 IEEE International Conference on Robotics and Automation Minneapolis, Minnesota - April 1996 A Practical Approach to Collision Detection Between General Objects Angel P. del Pobil Miguel Pkrez Begoiia Martinez ...
Systems, Man, and …, Jan 1, 2005
This paper presents and analyses twelve quality measures that characterize robotic grips accordin... more This paper presents and analyses twelve quality measures that characterize robotic grips according to their stability and reliability. The measures are designed to assess three-finger grips of 2D parts performed in a real environment, taking into account both theoretical aspects and unavoidable uncertainties of a grasping action. They build on the existing literature and on physical and mechanical considerations. The measures constitute a feature space that pattern recognition methods can use in order to classify robotic grips according to their quality. Six of the measures depend on the actual finger configuration of the gripper, and they have shown to be critical for a better characterization. The kinematics of the Barrett Hand has been used. As a validation step, the measures are merged in two global quality values (with different practical applicability) that can be used to rank feasible candidate grips.
Robotics and Automation, …, Jan 1, 2007
In this paper we present a robot that is able to perform daily manipulation tasks in a home envir... more In this paper we present a robot that is able to perform daily manipulation tasks in a home environment, such as opening doors and drawers. Taking as input a simplified object model and the task to perform, the robot automatically finds a grasp suitable for the task and performs it. For this, we identify a set of hand preshapes and classify them according to the grasp wrench space they generate. Given a task, the robot selects the most suitable hand preshape and automatically plans a set of actions in order to reach the object and to perform the task, taking continuously into account the task forces. The concept of hand preshape is extended for the inclusion of a task frame, which is a concept from task planning, thus filling the gap between the grasp and the task.
IEEE International Conference on …, Jan 1, 2003
Robotics and Autonomous …, Jan 1, 2006
This paper presents a practical approach for synthesizing two and three-finger grasps on planar u... more This paper presents a practical approach for synthesizing two and three-finger grasps on planar unknown objects by means of vision. We make use visual perception to reduce the uncertainty and to obtain relevant information about the objects. Moreover, we focus on non-modeled planar extruded objects, that can represent most real-world objects. Finally, we also take into account the particular mechanical constraints of the hand, with particular application to the three-fingered Barrett Hand.
Intelligent Robots and …, Jan 1, 2002
An experiment in constraining vision-based finger contact selection with gripper geometry
Intelligent Robots and …, Jan 1, 2002
... larger project aimed at endowing a complete humanoid hand-eye system with the ability of TO-b... more ... larger project aimed at endowing a complete humanoid hand-eye system with the ability of TO-bustly performing visually-guided precision planar grips. The system (fully described in subsection 1.2) is composed of a stereo head and a three-finger hand with tactile sensing, it is ...
Spatial representation and motion planning
The work presented in this book is based on the results of the research of the authors during the... more The work presented in this book is based on the results of the research of the authors during the last years at the Robotic Intelligence Group of Jaume I University and at the Advanced Robotics and AI Laboratory of CEIT and the University of Navarra. However, the topic of ...
Practical motion planning in robotics: Current approaches and future directions
Robot motion planning deals with the ability of robots to plot their own collision-free motion. R... more Robot motion planning deals with the ability of robots to plot their own collision-free motion. Recent research emphasis has been focused on developing practical motion planners for real manipulator arms with direct industrial relevance. This book concentrates on practical ...
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Papers by Angel Del Pobil