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Robot Rotation Estimation Using Spherical Moments in Neural Networks
2022 IEEE Applied Imagery Pattern Recognition Workshop (AIPR)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
This work proposes a method to estimate mobile robot rotation using spherical moments and machine learning. A polynomial fisheye camera model has been used to generate each image considering flying camera along a pre-planned trajectory. A dataset with 2400 images is created and labeled using Blender. The images are processed before it is fed into the neural network using 20 masks to reduces errors...Show More
Visual Completion Of 3D Object Shapes From A Single View For Robotic Tasks
Mohamed Tahoun;Carlos M. Mateo;Juan-Antonio Corrales-Ramón;Omar Tahri;Youcef Mezouar;Pablo Gil
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2019 | Conference Paper |
Cited by: Papers (2)
The goal of this paper is to predict 3D object shape to improve the visual perception of robots in grasping and manipulation tasks. The planning of image-based robotic manipulation tasks depends on the recognition of the object's shape. Mostly, the manipulator robots usually use a camera with configuration eye-in-hand. This fact limits the calculation of the grip on the visible part of the object....Show More
Dual-Arm Coordination Using Dual Quaternions and Virtual Mechanisms
Rohit Chandra;Carlos M. Mateo;Juan Antonio Corrales-Ramon;Youcef Mezouar
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2018 | Conference Paper |
A novel approach to the kinematic coordination problem for dual-arm robots and for the definition of bimanual tasks is proposed, where both modelling and control aspects of the problem are handled using dual quaternion representation of pose and screw-based manipulator Jacobian. The proposed formulation is advantageous in terms of computation and storage efficiency compared to other formulations o...Show More
Online Shape Estimation based on Tactile Sensing and Deformation Modeling for Robot Manipulation
Jose Sanchez;Carlos M. Mateo;Juan Antonio Corrales;Belhassen-Chedli Bouzgarrou;Youcef Mezouar
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2018 | Conference Paper |
Cited by: Papers (20)
Precise robot manipulation of deformable objects requires an accurate and fast estimation of their shape as they deform. So far, visual sensing has been mostly used to solve this issue, but vision sensors are sensitive to occlusions, which might be inevitable when manipulating an object with robot. To address this issue, we present a modular pipeline to track the shape of a soft object in an onlin...Show More
Analysis of shapes to measure surfaces: An approach for detection of deformations
2015 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO)
Year: 2015 | Conference Paper |
Cited by: Papers (1)
This paper presents a method to analyse 3D planar surfaces and to measure variations on it. The method is oriented to the detection of deformations on the elastic object surfaces formed by flat faces. These deformations are usually caused when two bodies, a solid and another elastic object, come in contact and there are contact pressures among their faces. Our method describes a strategy to model ...Show More
Study of dexterous robotic grasping for deformable objects manipulation
D. Mira;A. Delgado;C. M. Mateo;S. T. Puente;F. A. Candelas;F. Torres
2015 23rd Mediterranean Conference on Control and Automation (MED)
Year: 2015 | Conference Paper |
Cited by: Papers (8)
Most works in dexterous manipulation consider Force Closure Grasp (FCG), not only for rigid object but also, for flexible ones, though in the second case a force readjustment is also necessary. However, there are situations in which FCG is nonviable. This paper deals with the situation of a flexible object that must be necessarily grasped from one of its sides, taking advantage of its flexibility....Show More
A performance evaluation of surface normals-based descriptors for recognition of objects using CAD-models
2014 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO)
Year: 2014 | Conference Paper |
Cited by: Papers (1)
This paper describes a study and analysis of surface normal-base descriptors for 3D object recognition. Specifically, we evaluate the behaviour of descriptors in the recognition process using virtual models of objects created from CAD software. Later, we test them in real scenes using synthetic objects created with a 3D printer from the virtual models. In both cases, the same virtual models are us...Show More
Hammer: An Android based application for end-user industrial robot programming
2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)
Year: 2014 | Conference Paper |
This paper presents a novel tablet based end-user interface for industrial robot programming (called Hammer). This application makes easier to program tasks for industrial robots like polishing, milling or grinding. It is based on the Scratch programming language, but specifically design and created for Android OS. It is a visual programming concept that allows non-skilled programmer operators to ...Show More
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