Exploració per autor "Torras, Carme"
Ara es mostren els items 5-24 de 226
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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 obertManipulating 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 cognitive architecture for automatic gardening
Agostini, Alejandro Gabriel; Alenyà Ribas, Guillem; Fischbach, Andreas; Scharr, Hanno; Woergoetter, Florentin; Torras, Carme (2017-06-01)
Article
Accés obertIn large industrial greenhouses, plants are usually treated following well established protocols for watering, nutrients, and shading/light. While this is practical for the automation of the process, it does not tap the ... -
A family of quadratically-solvable 5-SPU parallel robots
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2010)
Text en actes de congrés
Accés obertA 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 obertLearning 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 obertThis 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 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 obertCompliant 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 joint model for 2D and 3D pose estimation from a single image
Simó 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'editorialWe 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 Cort, Josep; Torras, Carme (Elsevier, 2012)
Article
Accés obertThe 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 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 obertRobotic 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 robot learning from demonstration framework to perform force-based manipulation tasks
Rozo Castañeda, Leonel; Jiménez Schlegl, Pablo; Torras, Carme (Springer, 2013)
Article
Accés obertThis 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 ... -
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 obertAssistive 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 ... -
A topological extension of movement primitives for curvature modulation and sampling of robot motion
Colomé Figueras, Adrià; Torras, Carme (Springer Nature, 2021)
Article
Accés obertThis paper proposes to enrich robot motion data with trajectory curvature information. To do so,we use an approximate implementation of a topological feature named writhe, which measures the curling of a closed curve around ... -
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 obertCloth 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 obertTeaching 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 ... -
Action recognition based on efficient deep feature learning in the spatio-temporal domain
Husain, Syed Farzad; Dellen, Babette; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2016)
Article
Accés obertHand-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 obertIn 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 obertIn 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 obertThis 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 garment recognition and target grasping point detection using deep learning
Corona Puyane, Enric; Alenyà Ribas, Guillem; Gabas Nova, Antonio; Torras, Carme (2018-02-01)
Article
Accés obertIdentification and bi-manual handling of deformable objects, like textiles, is one of the most challenging tasks in the field of industrial and service robotics. Their unpredictable shape and pose makes it very difficult ... -
Active learning of manipulation sequences
Martínez Martínez, David; Alenyà Ribas, Guillem; Jiménez Schlegl, Pablo; Torras, Carme; Rossmann, Jürgen; Wantia, Nils; Eren Erdal, Aksoy; Haller, Simon; Piater, Justus (2014)
Text en actes de congrés
Accés obertWe 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 ...