Listar ICC_Articles por autoría "275bc619-3e91-45ff-960c-659aac875866"

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    • closedAccess   A 3D grasping system based on multimodal visual and tactile processing 

      Grzyb, Beata J.; Chinellato, Eris; Morales, Antonio; del Pobil, Angel P. Emerald Group Publishing (2009)
      urpose – The purpose of this paper is to present a novel multimodal approach to the problem of planning and performing a reliable grasping action on unmodeled objects. Design/methodology/approach – The robotic system is ...

    • openAccess   A gripper for delicate edible manipulation 

      Cardin-Catalan, Daniel; Morales, Antonio; Llop-Harillo, Immaculada; Pérez-González, Antonio; del Pobil, Angel P. Elsevier (2023-09-25)
      The general manipulation of delicate edible products requires of specific grippers able to firmly grasp these kind of products without damaging them. To address this problem we follow a soft and variable-stiffness approach. ...

    • openAccess   A Practical Approach for Picking Items in an Online Shopping Warehouse 

      Nechyporenko, Nataliya; Morales, Antonio; Cervera, Enric; del Pobil, Angel P. MDPI (2021-06-23)
      Commercially viable automated picking in unstructured environments by a robot arm remains a difficult challenge. The problem of robot grasp planning has long been around but the existing solutions tend to be limited when ...

    • openAccess   Data-Driven Grasp Synthesis—A Survey 

      Bohg, J.; Morales, Antonio; Asfour, Tamim; Kragic, D. Institute of Electrical and Electronics Engineers (IEEE) (2014-04)
      We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar, or ...

    • openAccess   Deep Learning Approaches to Grasp Synthesis: A Review 

      Newbury, Rhys; Gu, Morris; Chumbley, Lachlan; Mousavian, Arsalan; Eppner, Clemens; Leitner, Jürgen; Bohg, Jeannette; Morales, Antonio; Asfour, Tamim; Kragic, Danica; Fox, Dieter; Cosgun, Akansel IEEE (2023-06-13)
      Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep learning methods have allowed rapid progress in robotic object grasping. In this systematic review, ...

    • openAccess   Design and analysis of a variable-stiffness robotic gripper 

      Cardin-Catalan, Daniel; Ceppetelli, Simon; del Pobil, Angel P.; Morales, Antonio Elsevier (2021)
      This paper presents the design and analysis of a novel variable-stiffness robotic gripper, the RobInLab VS gripper. The purpose is to have a gripper that is strong and reliable as rigid grippers but adaptable as soft ...

    • openAccess   Evaluation of human prehension using grasp quality measures 

      León Pinzón, Beatriz Elena; Sancho-Bru, Joaquin L.; Jarque-Bou, Néstor J; Morales, Antonio; Roa Garzón, Máximo A. (2012)
      One of the main features of the human hand is its grasping ability. Robot grasping has been studied for years and different quality measures have been proposed to evaluate the stability and manipulability of grasps. ...

    • openAccess   Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks 

      Felip León, Javier; Laaksonen, J.; Morales, Antonio; Kyrki, V. Elsevier (2013-03)
      Sensor-based reactive and hybrid approaches have proven a promising line of study to address imperfect knowledge in grasping and manipulation. However the reactive approaches are usually tightly coupled to a particular ...

    • openAccess   Mobile manipulation hackathon: moving into real world applications 

      Roa Garzón, Máximo A.; Dogar, Mehmet; Pagès, Jordi; Vivas, Carlos; Morales, Antonio; CORRELL, NIKOLAUS; Görner, Michael; Rosell, Jan; Foix, Sergi; Memmesheimer, Raphael; Ferro, Francesco IEEE (2021-06)
      The Mobile Manipulation Hackathon was held in late 2018 during the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) to showcase the latest applications of wheeled robotic manipulators. The challenge ...

    • openAccess   Model of tactile sensors using soft contacts and its application in robot grasping simulation 

      Moisio, Sami; León Pinzón, Beatriz Elena; Korkealaakso, Pasi; Morales, Antonio Elsevier (2013-01)
      In the context of robot grasping and manipulation, realistic dynamic simulation requires accurate modeling of contacts between bodies and, in a practical level, accurate simulation of touch sensors. This paper addresses ...

    • openAccess   Predicting grasp success in the real world - A study of quality metrics and human assessment 

      Rubert, Carlos; Kappler, Daniel; Bohg, Jeannette; Morales, Antonio Elsevier (2019)
      Grasp quality metrics aim at quantifying different aspects of a grasp configuration between a specific robot hand and object. They produce a numerical value that allows to rank grasp configurations and optimize based on ...