Recent Submissions

  • Staübli work-cell: general description and operation 

    Hernádez Juan, Sergi; Gabás Nova, Antonio (2015)
    External research report
    Open Access
    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)
    External research report
    Open Access
    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)
    External research report
    Open Access
    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)
    External research report
    Open Access
    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)
    External research report
    Open Access
    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 ...
  • Rigid and deformable pick and place algorithms 

    Martí Carrillo, Felip; Alenyà Ribas, Guillem (2014)
    External research report
    Open Access
    This technical report explains the packages used in the WAM robot to pick and place cloth or tableware objects. The goal was to check if the WAM arm robot could perform several movements to fold and unfold deformables and ...
  • 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 ...
  • Teaching grasping points using natural movements 

    Isleyici, Yalim; Alenyà Ribas, Guillem (2014)
    External research report
    Open Access
    A 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 ...
  • Hybrid linear sewer network model 

    Joseph Duran, Bernat; Ocampo-Martínez, Carlos; Cembrano Gennari, Gabriela (2013)
    External research report
    Open Access
    This technical report presents a novel control-oriented hybrid linear sewer network model. It also provides the mathematical details of the Mixed Logical Dynamic (MLD) systems reformulation of the system equations to turn ...
  • The MoveIt motion planning framework configuration for the IRI WAM robot 

    Gonzàlez Esteve, Adrià; Alenyà Ribas, Guillem (2013)
    External research report
    Open Access
    Perform 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 ...

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