3 papers
cs.RO2022
Elly: A Real-Time Failure Recovery and Data Collection System for Robotic Manipulation
Elena Galbally, Adrian Piedra, Cynthia Brosque +1
Even the most robust autonomous behaviors can fail. The goal of this research is to both recover and collect data from failures, during autonomous task execution, so they can be pr…
cs.RO2018
Real Time Collision Detection and Identification for Robotic Manipulators
Elena Galbally, Mikael Jorda
The majority of everyday tasks involve interacting with unstructured environments. This implies that, in order for robots to be truly useful they must be able to handle contacts. T…
cs.RO2015
Retractable Prosthesis for Transfemoral Amputees Using Series Elastic Actuators and Force Control
Elena Galbally, Frank Small, Ivan Zanco
We present a highly functional and cost-effective prosthesis for transfemoral amputees that uses series elastic actuators. These actuators allow for accurate force control, low imp…