0000000000054635
AUTHOR
Josep Tornero
showing 8 related works from this author
Probabilistic Self-Localization and Mapping - An Asynchronous Multirate Approach
2008
[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchr…
FastSLAM 2.0: Least-Squares Approach
2006
In this paper, we present a set of robust and efficient algorithms with O(N) cost for the following situations: object detection with a laser ranger; mobile robot pose estimation and a FastSLAM improved implementation. Objected detection is mainly based on a novel multiple line fitting method, related with walls at the environment. This method assumes that walls at the environment constitute a regular constrained angles. A line-based pose estimation method is also proposed, based on Least-Squares (LS). This method performs the matching of detected lines and estimated map lines and it can provide the global pose estimation under assumption of known Data-Association. FastSLAM 1.0 has been imp…
Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints
2021
[EN] Surface treatment operations, such as sanding, deburring, finishing, grinding, polishing, etc. are progressively becoming more automated using robotic systems. However, previous research in this field used a completely automatic operation of the robot system or considered a low degree of human-robot interaction. Therefore, to overcome this issue, this work develops a truly synergistic cooperation between the human operator and the robot system to get the best from both. In particular, in the application developed in this work the human operator provides flexibility, guiding the tool of the robot system to treat arbitrary regions of the workpiece surface; while the robot system provides…
Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot
2022
AbstractHigh 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 objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion…
Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback
2021
[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when perf…
Real-time clothoid approximation by Rational Bezier curves
2008
This paper presents a novel technique for implementing Clothoidal real-time paths for mobile robots. As first step, rational Bezier curves are obtained as approximation of the Fresnel integrals. By rescaling, rotating and translating the previously computed RBC, an on-line Clothoidal path is obtained. In this process, coefficients, weights and control points are kept invariant. This on-line approach guarantees that an RBC has the same behavior as the original Clothoid using a low curve order. The resulting Clothoidal path allows any two arbitrary poses to be joined in a plane. RBCs working as Clothoids are also used to search for the shortest bounded-curvature path with a significant comput…
Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks
2020
Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. In many applications, human-robot physical interaction can be used for the teaching, specially in learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation is very useful when user and robot cannot share the same workspace due to hazardous environments, inaccessible locations, or because of ergonomic issues. In this sense, this article introduces a novel dual-arm teleoperation architecture with haptic and visual feedb…
Bimanual robot control for surface treatment tasks
2021
This work develops a method to perform surface treatment tasks using a bimanual robotic system, i.e. two robot arms cooperatively performing the task. In particular, one robot arm holds the workpiece while the other robot arm has the treatment tool attached to its end-effector. Moreover, the human user teleoperates all the six coordinates of the former robot arm and two coordinates of the latter robot arm, i.e. the teleoperator can move the treatment tool on the plane given by the workpiece surface. Furthermore, a force sensor attached to the treatment tool is used to automatically attain the desired pressure between the tool and the workpiece and to automatically keep the tool orientation …