Ara es mostren els items 1-20 de 37

    • A distance-based formulation of the octahedral manipulator kinematics 

      Rojas Libreros, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (2010)
      Text en actes de congrés
      Accés obert
      In most practical implementations of the Gough-Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particular instance of the Gough-Stewart platform, commonly known ...
    • 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 Grasping-centered analysis for cloth manipulation 

      Borràs Sol, Júlia; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020-06-01)
      Article
      Accés obert
      Compliant and soft hands have gained a lot of atten- tion in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping ...
    • A reconfigurable 5-DoF 5-SPU parallel platform 

      Borràs Sol, Júlia; Thomas, Federico; Ottaviano, Erika; Ceccarelli, Marco (2009)
      Text en actes de congrés
      Accés obert
      This paper presents a 5-SPU platform whose base leg attachments can be easily reconfigured, statically or dynamically, without altering its singularity locus. This permits to adapt the platform’s geometry to particular ...
    • A representation of cloth states based on a derivative of the Gauss linking integral 

      Coltraro, Franco; Fontana, Josep; Amorós Torrent, Jaume; Alberich Carramiñana, Maria; Borràs Sol, Júlia; Torras, Carme (Elsevier, 2023-11-15)
      Article
      Accés obert
      Robotic manipulation of cloth is a complex task because of the infinite-dimensional shape-state space of textiles, which makes their state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, ...
    • A Versatile Gripper for Cloth Manipulation 

      Donaire Cónsul, Sònia; Borràs Sol, Júlia; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020-10)
      Article
      Accés obert
      Cloth manipulation has been mostly advancing in perception and modeling methods for cloth state estimation and grasping point detection. In comparison, less attention has been put on end-effector design. Indeed, most ...
    • A virtual reality framework for fast dataset creation applied to cloth manipulation with automatic semantic labelling 

      Borràs Sol, Júlia; Boix Granell, Arnau; Foix Salmerón, Sergi; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2023)
      Text en actes de congrés
      Accés obert
      Teaching complex manipulation skills, such as folding garments, to a bi-manual robot is a very challenging task, which is often tackled through learning from demonstration. The few datasets of garment-folding demonstrations ...
    • 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 ...
    • Benchmarking bimanual cloth manipulation 

      Garcia Camacho, Irene; Lippi, Martina; Welle, Michael C.; Yin, Hang; Antonova, Rika; Varava, Anastasiia; Borràs Sol, Júlia; Torras, Carme; Marino, Alessandro; Alenyà Ribas, Guillem; Kragic, Danica (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Article
      Accés obert
      Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this paper, we provide three benchmarks for evaluation and comparison ...
    • Benchmarking cloth manipulation using action graphs: an example in placing flat 

      Garcia Camacho, Irene; Borràs Sol, Júlia; Alenyà Ribas, Guillem (2021)
      Text en actes de congrés
      Accés obert
      Benchmarking robotic manipulation is complex due to the difficulty in reproducing and comparing results across different embodiments and scenarios. Cloth manipula- tion presents additional challenges due to the complex ...
    • Challenge 4: Intelligent robotics 

      Alenyà Ribas, Guillem; Villagrá Serrano, Jorge; Fernández Saavedra, Maria Belén; González de Santos, Pablo; Haber Guerra, Rodolfo E.; Jiménez Ruiz, Antonio Ramón; Ribeiro, Angela; Rocón de Lima, Eduardo; Borràs Sol, Júlia; Moreno-Noguer, Francesc; Torras, Carme (Consejo Superior de Investigaciones Científicas (CSIC), 2021)
      Capítol de llibre
      Accés restringit per política de l'editorial
      Intelligent robotics are called to be the next revolution by providing AI with the capability of interacting with the physical world. Robots are overpassing their cages in the industry to become intelligent machines that ...
    • Cloth manipulation and perception competition 

      Garcia Camacho, Irene; Borràs Sol, Júlia; Calli, Berk; Norton, Adam; Alenyà Ribas, Guillem (2022)
      Text en actes de congrés
      Accés obert
      In the last decade, several competitions in robotic manipulation have been organised as a way to drive scientific progress in the field. They enable comparison of different approaches through a well-defined benchmark with ...
    • Direct position analysis of a large family of spherical and planar parallel manipulators with four loops 

      Borràs Sol, Júlia; Gregorio, Raffaele di (LIRMM, 2008)
      Text en actes de congrés
      Accés obert
      The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint ...
    • Direct position analysis of a large family of spherical and planar parallel manipulators with four loops 

      Borràs Sol, Júlia; Di Gregorio, Raffaele (2008)
      Text en actes de congrés
      Accés obert
      The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint ...
    • Effective grasping enables successful robot-assisted dressing 

      Borràs Sol, Júlia (American Association for the Advancement of Science (AAAS), 2022)
      Article
      Accés obert
      Advances in computer vision and robotic manipulation are enabling assisted dressing.
    • Experiència pràctica de comunicació de Matemàtiques a la ciutadania i a secundària – 2a fase 

      Alberich Carramiñana, Maria; Barja Yáñez, Miguel Ángel; Borràs Sol, Júlia; Plans Berenguer, Bernat; Quer Bosor, Jordi; Thomas, Federico; Torras, Carme; Xambó Descamps, Sebastián (Universitat Politècnica de Catalunya. Institut de Ciències de l'Educació, 2013-02-08)
      Text en actes de congrés / Comunicació de congrés
      Accés restringit per decisió de l'autor
      El projecte implementa experiències pràctiques dels estudis universitaris de matemàtiques (grau, llicenciatura i màsters) en l'àmbit de la docència i la divulgació científica. La finalitat divulgativa pretén fomentar ...
    • Household cloth object set: fostering benchmarking in deformable object manipulation 

      Garcia Camacho, Irene; Borràs Sol, Júlia; Calli, Berk; Norton, Adam; Alenyà Ribas, Guillem (Institute of Electrical and Electronics Engineers (IEEE), 2022-07)
      Article
      Accés obert
      Benchmarking of robotic manipulations is one of the open issues in robotic research. An important factor that has enabled progress in this area in the last decade is the existence of common object sets that have been shared ...
    • Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor 

      Geer Couste, Idril-tadzio; Maceira Duch, Marc; Borràs Sol, Júlia; Torras, Carme; Alenyà Ribas, Guillem (2020)
      Text en actes de congrés
      Accés obert
      Tactile feedback during cloth manipulation could be crucial in addressing the huge challenges involved in closing the loop during execution, complementing vision. However, up to our knowledge, tactile sensing has only been ...