Exploració per autor "Alenyà Ribas, Guillem"Més informacióMés informació

Ara es mostren els items 90-109 de 153

    • Natural teaching of robot-assisted rearranging exercises for cognitive training 

      Andriella, Antonio; Suárez Hernández, Alejandro; Segovia Aguas, Javier; Torras, Carme; Alenyà Ribas, Guillem (2019)
      Text en actes de congrés
      Accés obert
      Social Assistive Robots are a powerful tool to be used in patients’ cognitive training. The purpose of this study is to evaluate a new methodology to enable caregivers to teach cognitive exercises to the robot in an easy ...

    • Object detection methods for robot grasping: Experimental assessment and tuning 

      Rigual Aparici, Ferran; Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Torras, Carme (IOS Press, 2012)
      Text en actes de congrés
      Accés obert
      In this work we address the problem of object detection for the purpose of object manipulation in a service robotics scenario. Several implementations of state-of-the-art object detection methods were tested, and the one ...

    • Object modeling using a ToF camera under an uncertainty reduction approach 

      Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Andrade-Cetto, Juan; Torras, Carme (2010)
      Text en actes de congrés
      Accés obert
      Time-of-Flight (ToF) cameras deliver 3D images at 25 fps, offering great potential for developing fast object modeling algorithms. Surprisingly, this potential has not been extensively exploited up to now. A reason for ...

    • OCRA – An ontology for collaborative robotics and adaptation 

      Olivares Alarcos, Alberto; Foix Salmerón, Sergi; Borgo, Stefano; Alenyà Ribas, Guillem (2022)
      Article
      Accés obert
      Industrial collaborative robots will be used in unstructured scenarios and a large variety of tasks in the near future. These robots shall collaborate with humans, who will add uncertainty and safety constraints to the ...

    • On inferring intentions in shared tasks for industrial collaborative robots 

      Olivares Alarcos, Alberto; Foix Salmerón, Sergi; Alenyà Ribas, Guillem (2019)
      Article
      Accés obert
      Inferring human operators' actions in shared collaborative tasks, plays a crucial role in enhancing the cognitive capabilities of industrial robots. In all these incipient collaborative robotic applications, humans and ...

    • Online action recognition 

      Suárez Hernández, Alejandro; Segovia Aguas, Javier; Torras, Carme; Alenyà Ribas, Guillem (AAAI Press, 2021)
      Text en actes de congrés
      Accés obert
      Recognition in planning seeks to find agent intentions, goals or activities given a set of observations and a knowledge library (e.g. goal states, plans or domain theories). In this work we introduce the problem of Online ...

    • Personalization framework for adaptive robotic feeding assistance 

      Canal Camprodon, Gerard; Alenyà Ribas, Guillem; Torras, Carme (2016)
      Text en actes de congrés
      Accés obert
      The deployment of robots at home must involve robots with pre-defined skills and the capability of personalizing their behavior by non-expert users. A framework to tackle this personalization is presented and applied to ...

    • Personalized robot assistant for support in dressing 

      Jevtic, Aleksandar; Flores Valle, Andrés; Alenyà Ribas, Guillem; Chance, Greg; Caleb-Solly, Praminda; Dogramadzi, Sanja; Torras, Carme (2019)
      Article
      Accés obert
      Robot-assisted dressing is performed in close physical interaction with users who may have a wide range of physical characteristics and abilities. Design of user adaptive and personalized robots in this context is still ...

    • Planning clearing actions in cluttered scenes by phasing in geometrical constraints 

      Covallero, Nicola; Martinez Martinez, David; Alenyà Ribas, Guillem; Torras, Carme (IOS Press, 2017)
      Text en actes de congrés
      Accés obert
      Manipulation planning of cluttered objects involves a mixture of symbolic and geometric constraints which makes such planning very time consuming and often unsuitable for real applications. We propose to divide the geometric ...

    • Planning interactions as an event handling solution for successful and balanced human-robot collaboration 

      Izquierdo Badiola, Silvia; Rizzo, Carlos; Alenyà Ribas, Guillem (2022)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Dealing with the stochastic nature of human behaviour in Human-Robot Collaboration (HRC) remains a well known challenge that needs to be tackled. Automated task planning techniques have been implemented in order to share ...

    • Planning robot manipulation to clean planar surfaces 

      Martínez Martínez, David; Alenyà Ribas, Guillem; Torras, Carme (2015)
      Article
      Accés obert
      This paper presents a new approach to plan high-level manipulation actions for cleaning surfaces in household environments, like removing dirt from a table using a rag. Dragging actions can change the distribution of dirt ...

    • Planning stacking operations with an unknown number of objects 

      Trilla Romero, Lluís; Alenyà Ribas, Guillem (INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication, 2010)
      Text en actes de congrés
      Accés obert
      A planning framework is proposed for the task of cleaning a table and stack an unknown number of objects of different size on a tray. We propose to divide this problem in two, and combine two different planning algorithms. ...

    • Planning surface cleaning tasks by learning uncertain drag actions outcomes 

      Martínez Martínez, David; Alenyà Ribas, Guillem; Torras, Carme (2013)
      Text en actes de congrés
      Accés obert
      A method to perform cleaning tasks is presented where a robot manipulator autonomously grasps a textile and uses different dragging actions to clean a surface. Ac- tions are imprecise, and probabilistic planning is ...

    • Planning trajectories for the Esautomatix workcell 

      Marquès Fàbregas, Dídac; Alenyà Ribas, Guillem (2015)
      Report de recerca
      Accés obert
      The iri_twin_staubli_plan_execute_trajectory package allows to plan trajectories in the esautomatix cell for both, simulation in Gazebo and execution in the real robots. The esautomatix_write_trajectory package allows ...

    • Plant leaf imaging using time of flight camera under sunlight, shadow and room conditions 

      Kazmi, Wajahat; Foix Salmerón, Sergi; Alenyà Ribas, Guillem (2012)
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      Accés obert
      In this article, we analyze the effects of ambient light on Time of Flight (ToF) depth imaging for a plant’s leaf in sunlight, shadow and room conditions. ToF imaging is sensitive to ambient light and we try to find the ...

    • POMDP approach to robotized clothes separation 

      Monsó Purtí, Pol; Alenyà Ribas, Guillem; Torras, Carme (2012)
      Text en actes de congrés
      Accés obert
      Rigid object manipulation with robots has mainly relied on precise, expensive models and deterministic sequences. Given the great complexity of accurately modeling deformable objects, their manipulation seems to call ...

    • Practical resolution methods for MDPs in robotics exemplified with disassembly planning 

      Suárez Hernández, Alejandro; Torras, Carme; Alenyà Ribas, Guillem (Institute of Electrical and Electronics Engineers (IEEE), 2019-07-01)
      Article
      Accés obert
      In this paper we focus on finding practical resolution methods for Markov Decision Processes (MDPs) in robotics. Some of the main difficulties of applying MDPs to real-world robotics problems are: (1) having to deal with ...

    • Proactive learning of cognitive exercises with a social robot 

      Suárez Hernández, Alejandro; Andriella, Antonio; Alenyà Ribas, Guillem; Torras, Carme (2022-05-27)
      Report de recerca
      Accés obert
      We introduce INtuitive PROgramming 2 (INPRO2), an improvement over our previous INPRO framework for learning board exercises via demonstrations. INPRO2 makes use of our Online Action Recognition through Unification (OARU) ...

    • Probabilistic planning for robotics with ROSPlan 

      Canal Camprodon, Gerard; Cashmmore, Michael; Krivic, Senka; Alenyà Ribas, Guillem; Magazzeni, Daniele; Torras, Carme (2019)
      Text en actes de congrés
      Accés obert
      Probabilistic planning is very useful for handling uncertainty in planning tasks to be carried out by robots. ROSPlan is a framework for task planning in the Robot Operating System (ROS), but until now it has not been ...

    • Realtime tracking and grasping of a moving object from range video 

      Husain, Syed Farzad; Colomé Figueras, Adrià; Dellen, Babette; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Text en actes de congrés
      Accés obert
      In this paper we present an automated system that is able to track and grasp a moving object within the workspace of a manipulator using range images acquired with a Microsoft Kinect sensor. Realtime tracking is achieved ...