The Institut de Robòtica i Informàtica Industrial was created in November 1995 as a Joint Research Institute of the Spanish Council for Scientific Research (CSIC) and the Technical University of Catalonia (UPC).

The Institute was created with three main objectives: a) to promote a multidisciplinary center where CSIC and UPC researchers from different fields can combine efforts to carry out research on robotics and applied informatics; b) to offer to the community an Institute for fundamental and pre‐industrial technological research, offering also scientific education through doctorate and postgraduate courses; and c) to promote a quality‐based center being competitive enough to join other partners to participate in local, national and European research programs.

Pàgina web del Departament

Recent Submissions

  • Closed-loop inverse kinematics for redundant robots: comparative assessment and two enhancements 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Article
    Open Access
    Motivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used Closed-Loop IK (CLIK) methods for redundant robots, analysing their main points of concern: ...
  • Continuous real time POMCP to find-and-follow people by a humanoid service robot 

    Goldhoorn, Alex; Garrell Zulueta, Anais; Alquézar Mancho, René; Sanfeliu Cortés, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
  • Robust surface tracking in range image sequences 

    Husain, Syed Farzad; Dellen, Babette Karla Margarete; Torras, Carme (2014)
    Article
    Open Access
    A novel robust method for surface tracking in range-image sequences is presented which combines a clustering method based on surface models with a particle-filter-based 2-D affine-motion estimator. Segmented regions obtained ...
  • Localization in highly dynamic environments using dual-timescale NDT-MCL 

    Valencia Carreño, Rafael; Saarinen, Jari; Andreasson, Henrik; Vallvé Navarro, Joan; Andrade-Cetto, Juan; Lilienthal, Achim (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Industrial environments are rarely static and often their configuration is continuously changing due to the material transfer flow. This is a major challenge for infrastructure free localization systems. In this paper we ...
  • Dimensionality reduction for probabilistic movement primitives 

    Colomé Figueras, Adrià; Neumann, Gerhard; Peters, Jan; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Humans as well as humanoid robots can use a large number of degrees of freedom to solve very complex motor tasks. The high-dimensionality of these motor tasks adds difficulties to the control problem and machine learning ...
  • Single-layer economic model predictive control for periodic operation 

    Limón Marruedo, Daniel; Pereira Martin, Mario; Muñoz de la Peña, David; Álamo Cantarero, Teodoro; Grosso Pérez, Juan Manuel (2014)
    Article
    Open Access
    In this paper we consider periodic optimal operation of constrained periodic linear systems. We propose an economic model predictive controller based on a single layer that unites dynamic real time optimization and control. ...
  • Output-feedback model predictive control of sewer networks through moving horizon estimation 

    Joseph Duran, Bernat; Ocampo-Martínez, Carlos; Cembrano Gennari, Gabriela (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Based on a simplified control-oriented hybrid linear delayed model, model predictive control (MPC) of a sewer network designed to reduce pollution during heavy rain events is presented. The lack of measurements at many ...
  • Consistent depth video segmentation using adaptive surface models 

    Husain, Syed Farzad; Dellen, Babette Karla Margarete; Torras, Carme (2014)
    Article
    Open Access
    We propose a new approach for the segmentation of 3-D point clouds into geometric surfaces using adaptive surface models. Starting from an initial configuration, the algorithm converges to a stable segmentation through a ...
  • Competitive function approximation for reinforcement learning 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric (2014)
    External research report
    Open Access
    The application of reinforcement learning to problems with continuous domains requires representing the value function by means of function approximation. We identify two aspects of reinforcement learning that make the ...
  • Social robots: a meeting point between science and fiction 

    Torras, Carme (2015)
    Article
    Open Access
    Industrial robots and androids in science fiction were worlds apart until recently, but now begin to merge with the rapid development of social robotics. Given the growing need for labour in the healthcare and service ...

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