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

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    • 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 ...

    • Recovering the epipolar direction from two affine views of a planar object 

      Alberich Carramiñana, Maria; Alenyà Ribas, Guillem; Andrade-Cetto, Juan; Martinez, Elisa; Torras, Carme (Academic Press, 2008)
      Article
      Accés obert
      The mainstream approach to estimate epipolar geometry from two views requires matching the projections of at least 4 non-coplanar points in the scene, assuming a full projective camera model. Our work deviates from this ...

    • Recurrent neural networks for inferring intentions in shared tasks for industrial collaborative robots 

      Maceira Duch, Marc; Olivares Alarcos, Alberto; Alenyà Ribas, Guillem (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Text en actes de congrés
      Accés obert
      Industrial robots are evolving to work closely with humans in shared spaces. Hence, robotic tasks are increasingly shared between humans and robots in collaborative settings. To enable a fluent human robot collaboration, ...

    • Relational reinforcement learning for planning with exogenous effects 

      Martinez Martinez, David; Alenyà Ribas, Guillem; Ribeiro, Tony; Inoue, Katsumi; Torras, Carme (2017)
      Article
      Accés obert
      Probabilistic planners have improved recently to the point that they can solve difficult tasks with complex and expressive models. In contrast, learners cannot tackle yet the expressive models that planners do, which forces ...

    • Relational reinforcement learning with guided demonstrations 

      Martínez Martínez, David; Alenyà Ribas, Guillem; Torras, Carme (2017)
      Article
      Accés obert
      Model-based reinforcement learning is a powerful paradigm for learning tasks in robotics. However, in-depth exploration is usually required and the actions have to be known in advance. Thus, we propose a novel algorithm ...

    • Reward-weighted GMM and its application to action-selection in robotized shoe dressing 

      Colomé Figueras, Adrià; Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (Springer, 2017)
      Text en actes de congrés
      Accés obert
      In the context of assistive robotics, robots need to make multiple decisions. We explore the problem where a robot has multiple choices to perform a task and must select the action that maximizes success probability among ...

    • Rigid and deformable pick and place algorithms 

      Martí Carrillo, Felip; Alenyà Ribas, Guillem (2014)
      Report de recerca
      Accés obert
      This technical report explains the packages used in the WAM robot to pick and place cloth or tableware objects. The goal was to check if the WAM arm robot could perform several movements to fold and unfold deformables and ...