Carlos J. Rosales

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This paper presents a new method to solve the configuration problem on robotic hands: determine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the one presented here allows specifing such(More)
The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of " principal motion directions " to reduce the dimension of the search space in order to obtain results with a compromise between motion optimality and planning complexity(More)
— Planning a precision grasp for a robot hand is usually decomposed into two main steps. First, a set of contact points over the object surface must be determined, ensuring they allow a stable grasp. Second, the inverse kinematics of the robot hand must be solved to verify whether the contact points can actually be reached. Whereas the first problem has(More)
— This work proposes a solution to the grasp synthesis problem, which consist of finding the best hand configuration to grasp a given object for a specific manipulation task while satisfying all the necessary constraints. This problem is usually divided into sequential sub-problems, including contact region determination, hand inverse kinematics and force(More)
— The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search space in order to obtain results as a compromise between motion optimality and planning complexity (time) by means of the concept of(More)
—This paper presents a procedure to synthesize high-quality grasps for objects that need to be held and manipulated in a specific way, characterized by a pre-specified set of contact constraints to be satisfied. Due to the multi-modal nature of typical grasp quality measures, approaches that resort to local optimization methods are likely to get trapped(More)
— The planning of collision-free motions of a hand-arm system to reach a grasp or preshape configuration is not a simple issue due to the high number of involved degrees of freedom. This paper presents an efficient sampling-based path planner that copes with this issue by considering a reduced search space. The dimension of this space is not fixed but it is(More)
— This work proposes a representation that comprises both shape and friction, as well as the exploration strategy to gather them from an object. The representation is developed under a common probabilistic framework, particularly it uses a Gaussian Process to approximate the distribution of the friction coefficient over the surface, also represented as a(More)
Many situations in Robotics require the analysis of the motions of complex multibody systems. These are sets of articulated bodies arising in a variety of devices, including parallel manipulators, multifingered hands, or reconfigurable mechanisms, but they appear in other domains too, as mechanical models of molecular compounds or nanostructures. Closed(More)
— Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a collision free reach-to-grasp trajectory is planned. This assumes a collision free trajectory to the final grasp. This is(More)