Rodolfo García-Rodríguez

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Force-position control through one or multiple robots, or fingers, typically assumes a rigid endpoint without rolling nor slipping. However, there are some interesting tasks where rolling is involved, such as turning a knob (object is pivoting at a fixed rotational axis) or rolling a wheel (object rotational axis is moving). In such a case, rigid endpoint(More)
Cooperative robots have attracted the attention because they allow carrying out of tasks which cannot be done with a single robot. Though cooperative robot dynamics are quite complex to handle, regularly it is necessary to implement a nonlinear dynamics-based controller which guarantees fast tracking. A method for very fast constrained object maneuvering(More)
Dexterous object manipulation with robotic hands (subject to holonomic constraints) usually requires the capacity of fingertips to roll onto the object, which is very difficult to achieve with frictionless point contact model . As an alternative, deformable contact model has been considered based on hemispherical shape end-effector to yield rolling.(More)
The success in real applications of PID regulator has thought us that it is desirable a simple controller with clear and intuitive policy for tuning of feedback gains, as well as minimum or null dependency on the dynamics of the system. In this paper, theoretical and experimental results of PD-like structures for tracking of robots subject to friction and(More)
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract Diverse image-based tracking schemes for a robot moving in free motion have been proposed and experimentally validated. However, few visual servoing schemes have addressed the tracking of the desired trajectory and the contact(More)
Manipulation with soft-fingertips is proposed as a tool for interacting with rigid objects, based on an online bilateral teleoperation fuzzy controller, without time delay. The fuzzy inference engine tunes continuously the force feedback gain to increase awareness of physical interaction so as to grasping is achieved. In contrast to the case of rigid(More)