Exploració per autor "Alenyà Ribas, Guillem"
Ara es mostren els items 134-153 de 153
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Task-driven active sensing framework applied to leaf probing
(2018-04-01)
Article
Accés obertThis article presents a new method for actively exploring a 3D workspace with the aim of localizing relevant regions for a given task. Our method encodes the exploration route in a multi-layer occupancy grid map. This map, ... -
Teaching a robot the semantics of assembly tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Article
Accés obertWe present a three-level cognitive system in a learning by demonstration context. The system allows for learn- ing and transfer on the sensorimotor level as well as the planning level. The fundamentally different data ... -
Teaching a robot where doors and drawers are and how to handle them
(2023)
Text en actes de congrés
Accés obertWe address the problem of teaching a service robot to detect doors and drawers in indoor environments. We propose a robust and accurate method in which a human demonstrates to the robot how to open doors and drawers that ... -
Teaching grasping points using natural movements
(IOS Press, 2015)
Text en actes de congrés
Accés obertThe research on robots performing every-day tasks at home, has pursued the problem of the manipulation of everyday objects. Among them, grasping a cloth is a challenging task, as the textile is highly-deformable and it is ... -
Teaching grasping points using natural movements
(2014)
Report de recerca
Accés obertA common strategy to teach a robot certain skills involves demonstration. While the demonstrations are best made by directly manipulating the robot, in hazardous conditions the only choice is teleoperation. Even though ... -
The effects of gender and personality of robot assistants on customers’ acceptance of their service
(2022)
Article
Accés obertThe Covid-19 pandemic has stimulated the use of social robots in front-office services. However, some initial applications yielded disappointing results, as managers were unaware of the level of development of the robots’ ... -
The humanoidLab: involving students in a research centre through an educational initiative
(SciTePress, 2014)
Text en actes de congrés
Accés obertThe HumanoidLab is a more than 5 year old activity aimed to use educational robots to approach students to our Research Centre. Different commercial educative humanoid platforms have been used to introduce students to ... -
The MoveIt motion planning framework configuration for the IRI WAM robot
(2013)
Report de recerca
Accés obertPerform the setup and prepare WAM robots to use the the motion planning and obstacle avoid- ance facilities present at the MoveIt! framework. In particular, determine the configurations and API function calls to set the ... -
Time to contact for robot safety stop in close collaborative tasks
(IET Digital Library, 2023-08)
Capítol de llibre
Accés restringit per política de l'editorialWithin the next years, industrial collaborative robots will collaborate with human operators, whose safety might be compromised. To ensure a safe collaboration, robots should estimate the risk of collision with respect to ... -
ToF cameras for active vision in robotics
(2014)
Article
Accés obertToF cameras are now a mature technology that is widely being adopted to provide sensory input to robotic applications. Depending on the nature of the objects to be perceived and the viewing distance, we distinguish two ... -
ToF cameras for eye-in-hand robotics
(2015)
Capítol de llibre
Accés obertA Time-of-Flight (ToF) camera is a relatively new type of sensor that delivers 3-dimensional images at high frame rate, simultaneously providing intensity data and range information for every pixel. It has been used in a ... -
Towards plant monitoring through next best view
(IOS Press, 2011)
Text en actes de congrés
Accés obertMonitoring plants using leaf feature detection is a challenging perception task because different leaves, even from the same plant, may have very different shapes, sizes and deformations. In addition, leaves may be ... -
Towards safety in physically assistive robots: eating assistance
(2018)
Text en actes de congrés
Accés obertSafety is one of the base elements to build trust in robots. This paper studies remedies to unavoidable collisions using robotics assistive feeding as an example task. Firstly, we propose an attention mechanism so the user ... -
User evaluation of an interactive learning framework for single-arm and dual-arm robots
(Springer, 2016)
Text en actes de congrés
Accés obertSocial robots are expected to adapt to their users and, like their human counterparts, learn from the interaction. In our previous work, we proposed an interactive learning framework that enables a user to intervene and ... -
Using depth and appearance features for informed robot grasping of highly wrinkled clothes
(IEEE, 2012)
Text en actes de congrés
Accés obertDetecting grasping points is a key problem in cloth manipulation. Most current approaches follow a multiple regrasp strategy for this purpose, in which clothes are sequentially grasped from different points until one of ... -
Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments
(Springer, 2014-10-01)
Article
Accés obertRobots, traditionally confined into factories, are nowadays moving to domestic and assistive environments, where they need to deal with complex object shapes, deformable materials, and pose uncertainties at human pace. To ... -
V-MIN: efficient reinforcement learning through demonstrations and relaxed reward demands
(2015)
Text en actes de congrés
Accés restringit per política de l'editorialReinforcement learning (RL) is a common paradigm for learning tasks in robotics. However, a lot of exploration is usually required, making RL too slow for high-level tasks. We present V-MIN, an algorithm that integrates ... -
Visual feedback for humans about robots' perception in collaborative environments
(2020-07-20)
Report de recerca
Accés obertDuring the last years, major advances on artificial intelligence have successfully allowed robots to perceive their environment, which not only includes static but also dynamic objects such as humans. Indeed, robotic ... -
Zoom control to compensate camera translation within a robot egomotion estimation approach
(Springer, 2007)
Capítol de llibre
Accés obertWe previously proposed a method to estimate robot egomotion from the deformation of a contour in the images acquired by a robot-mounted camera [2, 1]. The fact that the contour should always be viewed under weak-perspective ... -
Zoom control to compensate camera translation within a robot egomotion estimation approach
(2007)
Text en actes de congrés
Accés obertZoom control has not received the attention one would expect in view of how it enriches the competences of a vision system. The possibility of changing the size of object projections not only permits analysing objects at ...
