Enviaments recents

  • Kinodynamic planning on constraint manifolds 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2017)
    Report de recerca
    Accés obert
    This report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ...
  • 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 ...
  • Towards SLAM with an events-based camera 

    Clavera Gilaberte, Ignasi; Solà Ortega, Joan; Andrade-Cetto, Juan (2016)
    Report de recerca
    Accés obert
    Event-based cameras have an incredible potential in real-time and real-world robotics. They would enable more efficient algorithms in applications where high demanding requirements, such as rapid dynamic motion and high ...
  • Quaternion kinematics for the error-state KF 

    Solà Ortega, Joan (2016)
    Report de recerca
    Accés obert
    A complete compendium of Quaternion formulas, with applications to Kalman filtering for visual-inertial navigation.
  • 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 ...
  • Grasping novel objects 

    Covallero, Nicola; Alenyà Ribas, Guillem (2016)
    Report de recerca
    Accés obert
    The work explained in this technical report is about evaluating some recent algorithms to grasp unforeseen objects for table clearance tasks. A tabletop object segmentation algorithm is proposed, and two recently published ...
  • Sistemes multi-agent 

    Golobardes Ribé, Elisabet; Pérez Quiroga, Javier; Porta Pleite, Josep Maria (1997-05-06)
    Report de recerca
    Accés obert
    In the last years a growing interest has arisen around a new paradigm called (among other names) Agents or Multi-Agents Systems. Its popularity has increased to the point that nowadays almost everyone working in Artificial ...
  • Staübli work-cell: general description and operation 

    Hernádez Juan, Sergi; Gabás Nova, Antonio (2015)
    Report de recerca
    Accés obert
    This technical report provides all the information necessary to operate all the elements that integrate the Staübli work-cell at the perception and manipulation laboratory at IRI. A detailed description of each of the ...
  • Autonomous navigation framework for a car-like robot 

    Hernádez Juan, Sergi; Herrero Cotarelo, Fernando (2015)
    Report de recerca
    Accés obert
    This technical report describes the work done to develop a new navigation scheme for an autonomous car-like robot available at the Mobile Robotics Laboratory at IRI. To plan the general path the robot should follow (i.e. ...
  • 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 ...
  • Staübli work-cell: embedded controller 

    Hernádez Juan, Sergi (2015)
    Report de recerca
    Accés obert
    This technical report describes the design (both hardware and software) of an embedded controller for the Staüli work-cell available at the perception and manipulation laboratory at IRI. This system is based on a commercial ...
  • Multi-master ROS systems 

    Hernádez Juan, Sergi; Herrero Cotarelo, Fernando (2015)
    Report de recerca
    Accés obert
    This technical report introduces the concepts, problems and a possible solution for ROS multi-master systems, that is, systems build from two or more ROS networks, each with its own roscore node. In general this environment ...

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