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

  • BASS: boundary-aware superpixel segmentation 

    Rubio Romano, Antonio; Yu, Longlong; Simó Serra, Edgar; Moreno-Noguer, Francesc (IEEE Press, 2016)
    Text en actes de congrés
    Accés obert
    We propose a new superpixel algorithm based on exploiting the boundary information of an image, as objects in images can generally be described by their boundaries. Our proposed approach initially estimates the boundaries ...
  • Semantic segmentation priors for object discovery 

    Martín García, Germán; Husain, Syed Farzad; Schulz, Hannes; Frintrop, Simone; Torras, Carme; Behnke, Sven (IEEE Press, 2016)
    Text en actes de congrés
    Accés obert
    Reliable object discovery in realistic indoor scenes is a necessity for many computer vision and service robot applications. In these scenes, semantic segmentation methods have made huge advances in recent years. Such ...
  • Recovering pose and 3D deformable shape from multi-instance image ensembles 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (Springer, 2017)
    Text en actes de congrés
    Accés obert
    In recent years, there has been a growing interest on tackling the Non-Rigid Structure from Motion problem (NRSfM), where the shape of a deformable object and the pose of a moving camera are simultaneously estimated from ...
  • Structured prediction with output embeddings for semantic image annotation 

    Quattoni, Ariadna Julieta; Ramisa Ayats, Arnau; Madhyastha, Pranava S.; Simo Serra, Edgar; Moreno-Noguer, Francesc (2016)
    Text en actes de congrés
    Accés obert
    We address the task of annotating images with semantic tuples. Solving this problem requires an algorithm able to deal with hundreds of classes for each argument of the tuple. In such contexts, data sparsity becomes a key ...
  • Construcció i programació d'un cap robòtic 

    García Serrano, Aniol; Alenyà Ribas, Guillem; Foix Salmerón, Sergi (2016)
    Report de recerca
    Accés obert
    Aquest projecte ha estat desenvolupat durant l'estada a l'empresa de primer de batxillerat. Va ser dut a terme al laboratori de Percepció i Manipulació de l'IRI (Institut de Robòtica i Informàtica Industrial) i proposat i ...
  • 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 ...
  • User evaluation of an interactive learning framework for single-arm and dual-arm robots 

    Jevtic, Aleksandar; Colomé Figueras, Adrià; Alenyà Ribas, Guillem; Torras, Carme (Springer, 2016)
    Text en actes de congrés
    Accés obert
    Social 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 ...
  • Robot-aided cloth classification using depth information and CNNs 

    Gabas Nova, Antonio; Corona Puyane, Enric; Alenyà Ribas, Guillem; Torras, Carme (2016)
    Text en actes de congrés
    Accés obert
    We present a system to deal with the problem of classifying garments from a pile of clothes. This system uses a robot arm to extract a garment and show it to a depth camera. Using only depth images of a partial view of the ...
  • Robot pain: a speculative review of its functions 

    Torras, Carme (Wolters Kluwer, 2016-05)
    Capítol de llibre
    Accés obert
    Given the scarce bibliography dealing explicitly with robot pain, this chapter has enriched its review with related research works about robot behaviours and capacities in which pain could play a role. It is shown that all ...
  • Real-time 3D reconstruction of non-rigid shapes with a single moving camera 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc; Calvo, Begoña; Martinez Montiel, José Maria (2016)
    Article
    Accés obert
    This paper describes a real-time sequential method to simultaneously recover the camera motion and the 3D shape of deformable objects from a calibrated monocular video. For this purpose, we consider the Navier-Cauchy ...

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