La recerca s'articula en dues línies amb els objectius que es detallen a continuació.

Percepció i Manipulació:
1. Enllaçar percepció i acció utilitzant mètodes geomètrics i estadístics per al modelatge de l'entorn i del propi robot, per a la planificació de tasques i moviments, i per a l'aprenentatge.
2. Aprofundir en l'aprenentatge per reforçament i en l'aprenentatge per demostració, en particular el "mestratge", com a base per a la interacció entre robots, humans i l'entorn.

Cinemàtica i Disseny de Robots:
3. Trobar mètodes generals i complets per a l'anàlisi i la planificació de moviments lliures de col·lisió de mecanismes.
4. Desenvolupar noves estructures mecàniques, preferentment robots paral·lels i robots basats en estructures "tensegrity".
5. Incrementar i millorar l'expertesa del grup en l'àrea del disseny mecànic

http://futur.upc.edu/ROBiri


La investigación se articula en dos líneas con los objectivos que se detallan a continuación.

Percepción y Manipulación:
1. Enlazar percepción y acción utilitzando métodos geométricos y estadísticos para el modelado del entorno y del propio robot, para la planificación de tareas y movimientos, y para el aprendizaje.
2. Profundizar en el aprendizaje por refuerzo y en el aprendizaje por demostración, en particular el entrenamiento, como base para la interacción entre robots, humanos y el entorno.

Cinemática y Diseño de Robots:
3. Encontrar métodos generales y completos para análisis y planificación de movimientos libres de colisión.
4. Desarrollar nuevas estructuras mecánicas, preferentmente robots paralelos y robots "tensegrity".
5. Incrementar y mejorar la competencia del grupo en el área del diseño mecánico.

http://futur.upc.edu/ROBiri


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.

http://futur.upc.edu/ROBiri


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.

http://futur.upc.edu/ROBiri

Enviaments recents

  • ROS wrapper for real-time multi-person pose estimation with a single camera 

    Arduengo García, Miguel; Jorgensen, Steven Jens; Hambuchen, Kimberly; Sentis, Luis; Moreno-Noguer, Francesc; Alenyà Ribas, Guillem (2017)
    Report de recerca
    Accés obert
    For robots to be deployable in human occupied environments, the robots must have human-awareness and generate human-aware behaviors and policies. OpenPose is a library for real-time multi-person keypoint detection. We have ...
  • Dual REPS: a generalization of relative entropy policy search exploiting bad experiences 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
    Article
    Accés obert
    Policy search (PS) algorithms are widely used for their simplicity and effectiveness in finding solutions for robotic problems. However, most current PS algorithms derive policies by statistically fitting the data from the ...
  • 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 ...
  • PL-SLAM: real-time monocular visual SLAM with points and lines 

    Pumarola Peris, Albert; Vakhitov, A.; Agudo Martínez, Antonio; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (IEEE Press, 2017)
    Text en actes de congrés
    Accés obert
    Low textured scenes are well known to be one of the main Achilles heels of geometric computer vision algorithms relying on point correspondences, and in particular for visual SLAM. Yet, there are many environments in which, ...
  • Teaching robot’s proactive behavior using human assistance 

    Garrell Zulueta, Anais; Villamizar Vergel, Michael Alejandro; Moreno-Noguer, Francesc; Sanfeliu Cortés, Alberto (2017)
    Article
    Accés obert
    In recent years, there has been a growing interest in enabling autonomous social robots to interact with people. However, many questions remain unresolved regarding the social capabilities robots should have in order to ...
  • Global model with local interpretation for dynamic shape reconstruction 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (2017)
    Text en actes de congrés
    Accés obert
    The most standard approach to resolve the inherent ambiguities of the non-rigid structure from motion problem is using low-rank models that approximate deforming shapes by a linear combination of rigid basis. These models ...
  • Assistent(e)s robòtiqu(e)s: un punt de confluència entre tecnociència i humanitats 

    Torras, Carme (2017)
    Article
    Accés obert
    La robòtica industrial està donant pas a una robòtica de caire més social i assistencial. Simplificant, podríem dir que mentre els robots industrials han ocupat llocs de treball que requereixen manipular materials rígids ...
  • Guest editorial: sensorimotor contingencies for cognitive robotics 

    Alenyà Ribas, Guillem; Tellez Lara, Ricardo; O'Regan, Kevin; Angulo Bahón, Cecilio (Institute of Electrical and Electronics Engineers (IEEE), 2017-06-09)
    Article
    Accés obert
    The sensorimotor approach to cognition states, that the key to bring semantics to the world of a robot, requires making the robot learn the relation between the actions that the robot performs and the change it experiences ...
  • Efficient interactive decision-making framework for robotic applications 

    Agostini, Alejandro Gabriel; Torras, Carme; Woergoetter, Florentin (2017-06-01)
    Article
    Accés obert
    The inclusion of robots in our society is imminent, such as service robots. Robots are now capable of reliably manipulating objects in our daily lives but only when combined with artificial intelligence (AI) techniques for ...
  • Combining local-physical and global-statistical models for sequential deformable shape from motion 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (2017-04-01)
    Article
    Accés obert
    In this paper, we simultaneously estimate camera pose and non-rigid 3D shape from a monocular video, using a sequential solution that combines local and global representations. We model the object as an ensemble of particles, ...
  • Multi-modal fashion product retrieval 

    Rubio Romano, Antonio; Yu, Longlong; Simó Serra, Edgar; Moreno-Noguer, Francesc (2017)
    Text en actes de congrés
    Accés obert
    Finding a product in the fashion world can be a daunting task. Everyday, e-commerce sites are updating with thousands of images and their associated metadata (textual information), deepening the problem. In this paper, we ...
  • Modal space: a physics-based model for sequential estimation of time-varying shape from monocular video 

    Agudo Martínez, Antonio; Martinez Montiel, José Maria; Agapito, Lourdes; Calvo, Begoña (2017-01-01)
    Article
    Accés obert
    This paper describes two sequential methods for recovering the camera pose together with the 3D shape of highly deformable surfaces from a monocular video. The nonrigid 3D shape is modeled as a linear combination of mode ...

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