We present a collection of sensorimotor models which, when paired with a custom, mobile
manipulation platform, collectively enable the autonomous deconstruction of piles of debris …

In robotic applications which involve handling objects or interaction with the environment,
robots generally establish contact at near-zero speed due to the effect of impacts. At impact …

High dexterity is required in tasks in which there is contact between objects, such as surface
conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the …

Among the existing dual-arm cooperative grasping methods, the dual-arm cooperative
grasping method based on RGB camera is the mainstream intelligent method. However …

Dual-arm robot has been widely used in industry and service trades. It increases the degree
of freedom within the workspace, while leading to more complex task planning problems …

This thesis considers the problem of coordinating multiple industrial manipulators with
overlapping workspaces working on a shared set of tasks. The work is motivated by the vast …

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis
in the industry. These tasks are still done largely by humans. This paper proposes a unified …

Compared with electrically driven dual-arm robots, the hydraulic dual-arm manipulator in
constrained motion is currently more difficult to accurately track the desired contact force and …

This paper focuses on the coordinated tracking control scheme of dual-manipulator based
on friction compensation. First, a new dual-manipulator model with flexible joints and friction …

El campo de estudio que compete a esta tesis es referente a la conjunción que existe entre
el área de la planificación de movimientos basada en muestreo y redes neuronales …