Ara es mostren els items 1-20 de 32

    • 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 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 taxonomy of preferences for physically assistive robots 

      Canal Camprodon, Gerard; Alenyà Ribas, Guillem; Torras, Carme (IEEE Press, 2017)
      Text en actes de congrés
      Accés obert
      Assistive devices and technologies are getting common and some commercial products are starting to be available. However, the deployment of robots able to physically interact with a person in an assistive manner is still ...
    • 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
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      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 ...
    • Are preferences useful for better assistance? A physically assistive robotics user study 

      Canal Camprodon, Gerard; Torras, Carme; Alenyà Ribas, Guillem (Association for Computing Machinery (ACM), 2021)
      Article
      Accés obert
      Assistive Robots have an inherent need of adapting to the user they are assisting. This is crucial for the correct development of the task, user safety, and comfort. However, adaptation can be performed in several manners. ...
    • Cervells artificials: ciència o ficció? 

      Torras, Carme (Centre Cultura Contemporània de Barcelona (CCCB), 2022)
      Capítol de llibre
      Accés restringit per política de l'editorial
      Comencem amb una recopilació dels cervells artificials que han aparegut en obres de ficció, ja sigui incorporats en robots o bé com intel·ligències col·lectives i consciències d’altres tipus, tant de substrat tecnològic ...
    • Combination of distributed camera network and laser-based 3D mapping for urban service robots 

      Andrade-Cetto, Juan; Ortega Jiménez, Agustín Alberto; Teniente Avilés, Ernesto; Trulls Fortuny, Eduard; Valencia Carreño, Rafael; Sanfeliu Cortés, Alberto (2009)
      Text en actes de congrés
      Accés obert
    • Confluència de ciència i ficció en la robòtica actual 

      Torras, Carme (Edicions Talaiots, 2015)
      Comunicació de congrés
      Accés obert
      Els robots industrials i els hominoides de la ciència-ficció, tan diferents fins ara, comencen a confluir gràcies al ràpid desenvolupament de la robòtica assistencial i de serveis. S’estan dissenyant robots que puguin ...
    • Considering the anchoring problem in robotic intelligent bin picking 

      Escudero Rodrigo, Diego; Alquézar Mancho, René (IOS Press, 2018)
      Text en actes de congrés
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      Random Bin Picking means the selection by a robot of a particular item from a container (or bin) in which there are many items randomly distributed. Generalist robots and the Anchoring Problem should be considered if we ...
    • Dimensionality reduction for probabilistic movement primitives 

      Colomé Figueras, Adrià; Neumann, Gerhard; Peters, Jan; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Text en actes de congrés
      Accés obert
      Humans as well as humanoid robots can use a large number of degrees of freedom to solve very complex motor tasks. The high-dimensionality of these motor tasks adds difficulties to the control problem and machine learning ...
    • Dimensionality reduction in learning Gaussian mixture models of movement primitives for contextualized action selection and adaptation 

      Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Article
      Accés obert
      Robotic manipulation often requires adaptation to changing environments. Such changes can be represented by a certain number of contextual variables that may be observed or sensed in different manners. When learning and ...
    • 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
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      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 ...
    • 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 ...
    • Finding safe policies in model-based active learning 

      Martínez Martínez, David; Alenyà Ribas, Guillem; Torras, Carme (2014)
      Text en actes de congrés
      Accés obert
      Task learning in robotics is a time-consuming process, and model-based reinforcement learning algorithms have been proposed to learn with just a small amount of experiences. However, reducing the number of experiences used ...
    • Force-based robot learning of pouring skills using parametric hidden Markov models 

      Rozo Castañeda, Leonel; Jiménez Schlegl, Pablo; Torras, Carme (2013)
      Text en actes de congrés
      Accés obert
      Robot learning from demonstration faces new challenges when applied to tasks in which forces play a key role. Pouring liquid from a bottle into a glass is one such task, where not just a motion with a certain force profile ...
    • Handling high parameter dimensionality in reinforcement learning with dynamic motor primitives 

      Colomé Figueras, Adrià; Alenyà Ribas, Guillem; Torras, Carme (2013)
      Text en actes de congrés
      Accés obert
      Dynamic Motor Primitives (DMP) are nowadays widely used as movement parametrization for learning trajectories, because of their linearity in the parameters, rescalation robustness and continuity. However, when learning a ...
    • IEEE Standard for Autonomous Robotics Ontology [Standards] 

      Goncalves, Paulo; Olivares Alarcos, Alberto; Bermejo Alonso, Julita; Borgo, Stefano; Diab, Mohammed; Habib, Maki K.; Nakawala, Hirenkumar; Kumar, Veera Ragavan Sampath; Sanz Cortiella, Ricardo; Tosello, Elisa; Li, Howard (2021)
      Article
      Accés obert
      The IEEE1872.2 Autonomous Robotics (AuR) Ontology Working Group has recently developed the AuR ontology standard. This standard is a logical extension to IEEE 1872–2015 Standard Ontologies for Robotics and Automation, core ...
    • Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance 

      Canal Camprodon, Gerard; Pignat, Emmanuel; Alenyà Ribas, Guillem; Calinon, Sylvain; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Text en actes de congrés
      Accés obert
      For a safe and successful daily living assistance, far from the highly controlled environment of a factory, robots should be able to adapt to ever-changing situations. Programming such a robot is a tedious process that ...
    • Large scale visual odometry using stereo vision 

      Hernández, Andrés; Nieto, Juan I; Vidal Calleja, Teresa; Nebot, Eduardo (2009)
      Text en actes de congrés
      Accés obert
      This paper presents a system for egomotion estimation using a stereo head camera. The camera motion estimation is based on features tracked along a video sequence. The system also estimates the tridimensional geometry ...