Ara es mostren els items 1-20 de 69

  • 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 comparison of three methods for measure of time to contact 

    Alenyà Ribas, Guillem; Nègre, Amaury; Crowley, James L (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
    Comunicació de congrés
    Accés obert
    Time to Contact (TTC) is a biologically inspired method for obstacle detection and reactive control of motion that does not require scene reconstruction or 3D depth estimation. Estimating TTC is difficult because it requires ...
  • 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 ...
  • Camera motion estimation by tracking contour deformation: precision analysis 

    Alenyà Ribas, Guillem; Torras, Carme (2010-03)
    Article
    Accés obert
    An algorithm to estimate camera motion from the progressive deformation of a tracked contour in the acquired video stream has been previously proposed. It relies on the fact that two views of a plane are related by an ...
  • Characterization of textile grasping experiments 

    Alenyà Ribas, Guillem; Ramisa Ayats, Arnau; Moreno-Noguer, Francesc; Torras, Carme (2012)
    Text en actes de congrés
    Accés obert
    Grasping highly deformable objects, like textiles, is an emerging area of research that involves both percep- tion and manipulation abilities. As new techniques appear, it becomes essential to design strategies to compare ...
  • Construcció i programació d'un cap robòtic 

    García Serrano, Aniol; Alenyà Ribas, Guillem; Foix Salmerón, Sergi (2016)
    Report de recerca
    Accés obert
    Aquest projecte ha estat desenvolupat durant l'estada a l'empresa de primer de batxillerat. Va ser dut a terme al laboratori de Percepció i Manipulació de l'IRI (Institut de Robòtica i Informàtica Industrial) i proposat i ...
  • Depth from the visual motion of a planar target induced by zooming 

    Alenyà Ribas, Guillem; Alberich Carramiñana, Maria; Torras, Carme (IEEE, 2007)
    Text en actes de congrés
    Accés obert
    Robot egomotion can be estimated from an acquired video stream up to the scale of the scene. To remove this uncertainty (and obtain true egomotion), a distance within the scene needs to be known. If no a priori knowledge ...
  • Determining where to grasp cloth using depth information 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (IOS Press, 2011)
    Text en actes de congrés
    Accés obert
    In this paper we address the problem of finding an initial good grasping point for the robotic manipulation of textile objects lying on a flat surface. Given as input a point cloud of the cloth acquired with a 3D camera, ...
  • Diseño de un pie para un robot humanoide 

    Barbadillo Villanueva, Guillermo; Alenyà Ribas, Guillem (2010)
    Report de recerca
    Accés obert
    La propuesta se enmarca dentro del proyecto Humanoid Lab del Institut de Robòtica i Informàtica Industrial (IRI). El grupo dispone de múltiples plataformas humanoides educativas (Robonova y Bioloid). Existe una primera ...
  • Dynamically consistent probabilistic model for robot motion learning 

    Pardo Ayala, Diego Esteban; Rozo Castañeda, Leonel; Alenyà Ribas, Guillem; Torras, Carme (2012)
    Text en actes de congrés
    Accés obert
    This work presents a probabilistic model for learning robot tasks from human demonstrations using kinesthetic teaching. The difference with respect to previous works is that a complete state of the robot is used to obtain ...
  • Estimació del moviment de robots mitjançant contorns actius 

    Alenyà Ribas, Guillem (Universitat Politècnica de Catalunya, 2007-10-25)
    Tesi
    Accés obert
    Aquesta tesi versa sobre l'estimació del moviment d'un robot mòbil a partir dels canvis en les imatges captades per una càmera muntada sobre el robot. El moviment es dedueix amb un algorisme prèviament proposat en el marc ...
  • Evaluating the use of robots to enlarge AAL services 

    Angulo Bahón, Cecilio; Pfeiffer, Sammy; Alenyà Ribas, Guillem; Téllez Lara, Ricardo (2015-01-01)
    Article
    Accés obert
    We introduce robots as a tools to enhance Ambient Assisted Living (AAL) services. Robots are a unique opportunity to create new systems to cooperate in reaching better living conditions. Robots offer the possibility of ...
  • Execution fault recovery in robot programming by demonstration using multiple models 

    Hoyos, Jose; Prieto, Flavio; Alenyà Ribas, Guillem; Torras, Carme (2016)
    Article
    Accés obert
    Deformable object (e.g., clothes) manipulation by a robot in interaction with a human being presents several interesting challenges. Due to texture and deformability, the object can get hooked in the human limbs. Moreover, ...
  • Exploitation of time-of-flight (ToF) cameras 

    Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (2010)
    Report de recerca
    Accés obert
    This technical report reviews the state-of-the art in the field of ToF cameras, their advantages, their limitations, and their present-day applications sometimes in combination with other sensors. Even though ToF cameras ...
  • External force estimation during compliant robot manipulation 

    Colomé Figueras, Adrià; Pardo Ayala, Diego Esteban; Alenyà Ribas, Guillem; Torras, Carme (2013)
    Text en actes de congrés
    Accés obert
    This paper presents a method to estimate external forces exerted on a manipulator, avoiding the use of a sensor. The method is based on task-oriented dynamics model learning and a robust disturbance state observer. The ...
  • External force estimation for textile grasp detection 

    Colomé Figueras, Adrià; Pardo Ayala, Diego Esteban; Alenyà Ribas, Guillem; Torras, Carme (2012)
    Text en actes de congrés
    Accés obert
    Our current work on external force estimation without end-effector force sensor is resented.To verify if a grasp of a textile has been successful, the external wrench applied on the robot is computed online, with a state ...