Organisation: Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya (IOC‐UPC)
Address: Av. Diagonal 647, planta 11, 08028 Barcelona, Spain
Contact: Prof. Jan Rosell (Tel:+34 934017162, jan.rosell(at)upc.edu)
- Raúl Suárez (IOC‐UPC)
- Leopold Palomo (IOC‐UPC)
- Muhayyuddin Gillani(IOC‐UPC)
- Aliakbar Akbari (IOC‐UPC)
- Néstor García (IOC‐UPC)
- Josep Consuegra (IOC‐UPC)
Prof. Jan Rosell is Professor of robotics and automatic control. His main research field is motion planning, principally focused in hand‐arm robotic systems and mobile manipulators. He is the responsible of The Kautham Project, a software tool for robot motion planning (sir.upc.edu/kautham).
Dr. Raúl Suárez is Research Supervisor. He has been leader of many research projects related to grasping and manipulation. His current research is focused in dexterous manipulation with multiple mobile manipulators.
Leoplod Palomo is a research assistant. He has expertise in Linux, communications, ROS and system integration. He is the Lab coordinator and the responsible of the construction of the home‐made BMM mobile platform.
Muhayyuddin Gillani is a PhD. Student. His research is focused in the use of dynamic simulation in motion planning for grasping and manipulation tasks.
Aliakbar Akbari is a PhD. Student. His research is focused in the simultaneous task and motion planning for mobile manipulators.
Néstor García is an undergraduate student. He is a skilled programmer and is currently one of the main contributors to The Kautham Project.
Josep Consuegra is an undergraduate student working in 3D sensing and modelling.
The members of the team belong to a larger research group with experience in grasping and mobile manipulation, currently working in two research projects relevant to the challenge (funded by the Spanish Government) that focus on teleoperation of mobile manipulators and on grasping and dexterous manipulations with multiple mobile manipulators.
A sample of three recent selected publications related to the challenge topic are:
- “Path planning for grasping operations using an adaptive PCA‐based sampling method”, Autonomous Robots 2013;
- “Hybrid Mapping for the Assistance of Teleoperated Grasping Tasks” IEEE Trans. Systmes Man & Cybernetics: Systems, 2013;
- “Autonomous motion planning of a hand‐arm robotic system based on captured human‐like hand postures” Autonomous Robots 2011.
There is a high complementarity between persons in the team, covering all the skills required to cope with the challenge (sensing, motion planning, task planning, grasp planning, programming, communications). The team is also well balanced between senior and junior researchers. Moreover, we plan to incorporate for the second stage two PhD. students with expertise in sensor and control hardware issues.
The IOC Robotics Lab is well equipped to work in mobile manipulation tasks. Among the material relevant to challenge 2, the Lab has: a KUKA LWR mounted on a homemade omnidirectional platform (BMM) and another one that will be available in the next 3/4 months, a robotic cell with two TX90 Stäubli robots, one installed on a 1 d.o.f. mobile base, and several mechanical hands (SAH, SDH, Allegro).