Andrés S. Vázquez

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In this paper we present a 3D tracking system that is able to identify several characteristic points on the surface of a moving scene. The system is considered as a preliminary step in the interaction of industrial robots with dynamic scenes. Through a new color structured light technique based on a disordered codeword pattern, 3D coordinates of the object(More)
Tactile sensing provides critical information, such as force, texture, shape or temperature, in manipulation tasks. In particular, tactile sensors traditionally used in robotics are emphasized in contact force determination for grasping control and object recognition. Nevertheless, slip detection is also crucial to successfully manipulate an object. Several(More)
While complex hands seem to offer generality, simple hands are often more practical. This raises the question: how do generality and simplicity trade off in the design of robot hands? This paper explores the tension between simplicity in hand design and generality in hand function. It raises arguments both for and against simple hands, it considers several(More)
This paper is framed in both 3D digitization and 3D data intelligent processing research fields. Our objective is focused on developing a set of techniques for the automatic creation of simple three-dimensional indoor models with mobile robots. The document presents the principal steps of the process, the experimental setup and the results achieved. We(More)
This work is addressed to develop a hands biometric system for verification and recognition goals. The method is based on three keys. First we use a hand’s natural layout as intrinsic properties of each individual. Consequently, neither hand-pose training nor a pre-fixed position is required in the registration process. Secondly, we define a set of features(More)
Flexible-finger hands/grippers have some advantages over rigid ones when used in grasping tasks. For example, they absorb energy during the impact, which make them suitable in delicate manipulation or human interaction. In this work, we look at their performance during grasping tasks, analyzing the effect of some design parameters like precurvature and(More)