Ara es mostren els items 1-20 de 127

  • 3D modelling of leaves from color and ToF data for robotized plant measuring 

    Alenyà Ribas, Guillem; Dellen, Babette; Torras, Carme (2011)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Supervision of long-lasting extensive botanic experiments is a promising robotic application that some recent technological advances have made feasible. Plant modelling for this application has strong demands, particularly ...
  • 3D object reconstruction from Swissranger sensor data using a spring-mass model 

    Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme (INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication, 2009)
    Capítol de llibre
    Accés restringit per política de l'editorial
    We register close-range depth images of objects using a Swissranger sensor and apply a spring-mass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with ...
  • 3D sensor planning framework for leaf probing 

    Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Text en actes de congrés
    Accés obert
    Modern plant phenotyping requires active sensing technologies and particular exploration strategies. This article proposes a new method for actively exploring a 3D region of space with the aim of localizing special areas ...
  • A 3D descriptor to detect task-oriented grasping points in clothing 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (2016)
    Article
    Accés obert
    Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. ...
  • A family of quadratically-solvable 5-SPU parallel robots 

    Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2010)
    Text en actes de congrés
    Accés obert
    A 5-SPU robot with collinear universal joints is well suited to handling an axisymmetric tool, since it has 5 controllable DoFs and the remaining one is a free rotation around the tool. The kinematics of such a robot having ...
  • A friction-model-based framework for reinforcement learning of robotic tasks in non-rigid environments 

    Colomé Figueras, Adrià; Planells Valencia, Antoni; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Text en actes de congrés
    Accés obert
    Learning motion tasks in a real environment with deformable objects requires not only a Reinforcement Learning (RL) algorithm, but also a good motion characterization, a preferably compliant robot controller, and an agent ...
  • A general strategy for interactive decision-making in robotic platforms 

    Agostini, Alejandro Gabriel; Torras, Carme; Wörgötter, Florentin (2011)
    Report de recerca
    Accés obert
    This work presents an intergated strategy for planning and learning suitable to execute tasks with robotic platforms without any previous task specification. The approach rapidly learns planning operators from few action ...
  • A joint model for 2D and 3D pose estimation from a single image 

    Simo-Serra, Edgar; Quattoni, Ariadna Julieta; Torras, Carme; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2013)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    We introduce a novel approach to automatically recover 3D human pose from a single image. Most previous work follows a pipelined approach: initially, a set of 2D features such as edges, joints or silhouettes are detected ...
  • A personal account of Turing’s imprint on the development of computer science 

    Díaz, Josep; Torras, Carme (Elsevier, 2012)
    Article
    Accés obert
    The rst part of the XX century saw the development of the digital computer and the eld of computer science. In the present paper, we sketch our vision of that period and of the role that Alan Turing and some of his ...
  • A robot learning from demonstration framework to perform force-based manipulation tasks 

    Rozo Castañeda, Leonel; Jiménez Schlegl, Pablo; Torras, Carme (Springer, 2013)
    Article
    Accés obert
    This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through ...
  • Action recognition based on efficient deep feature learning in the spatio-temporal domain 

    Husain, Syed Farzad; Dellen, Babette Karla Margarete; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Article
    Accés obert
    Hand-crafted feature functions are usually designed based on the domain knowledge of a presumably controlled environment and often fail to generalize, as the statistics of real-world data cannot always be modeled correctly. ...
  • Action rule induction from cause-effect pairs learned through robot-teacher interaction 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric; Torras, Carme; Wörgötter, Florentin (University of Karlsruhe, 2008)
    Text en actes de congrés
    Accés obert
    In this work we propose a decision-making system that efficiently learns behaviors in the form of rules using natural human instructions about cause-effect relations in currently observed situations, avoiding complicated ...
  • Action rule induction from cause-effect pairs learned through robot-teacher interaction 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric; Torras, Carme; Wörgötter, Florentin (2008)
    Text en actes de congrés
    Accés obert
    In this work we propose a decision-making system that efficiently learns behaviors in the form of rules using natural human instructions about cause-effect relations in currently observed situations, avoiding complicated ...
  • Action selection for robotic manipulation of deformable objects 

    Cuén Rochín, Saúl; Andrade-Cetto, Juan; Torras, Carme (ESF-JSPS, 2008)
    Text en actes de congrés
    Accés obert
    This paper deals with the manipulation of planar deformable objects for typical service robot applications. Specifically, we present a system that straightens pieces of cloth from any arbitrary initial wrinkle condition ...
  • Active learning of manipulation sequences 

    Martínez Martínez, David; Alenyà Ribas, Guillem; Jimenez Schlegl, Pablo; Torras, Carme; Rossmann, Jürgen; Wantia, Nils; Eren Erdal, Aksoy; Haller, Simon; Piater, Justus (2014)
    Text en actes de congrés
    Accés obert
    We describe a system allowing a robot to learn goal-directed manipulation sequences such as steps of an assembly task. Learning is based on a free mix of exploration and instruction by an external teacher, and may be active ...
  • Active perception of deformable objects using 3D cameras 

    Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Ramisa Ayats, Arnau; Torras, Carme (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
    Text en actes de congrés
    Accés obert
    Perception and manipulation of rigid objects has received a lot of attention, and several solutions have been proposed. In contrast, dealing with deformable objects is a relatively new and challenging task because they ...
  • Analysing the singularities of 6-SPS parallel robots using virtual legs 

    Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (LIRMM, 2008)
    Text en actes de congrés
    Accés obert
    A virtual leg in a 6-SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. ...
  • Architectural singularities of a class of pentapods 

    Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2011)
    Article
    Accés obert
    A pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling ...
  • Architecture singularities in flagged parallel manipulators 

    Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (IEEE, 2008)
    Text en actes de congrés
    Accés obert
    Flagged manipulators are of interest because they are the only Stewart-Gough platforms for which a cell decomposition of their singularity loci is available. Here we show that the known family of such manipulators can be ...
  • Assistent(e)s robòtiqu(e)s: un punt de confluència entre tecnociència i humanitats 

    Torras, Carme (2017)
    Article
    Accés obert
    La robòtica industrial està donant pas a una robòtica de caire més social i assistencial. Simplificant, podríem dir que mentre els robots industrials han ocupat llocs de treball que requereixen manipular materials rígids ...