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: ...
  • 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 ...
  • 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. ...
  • 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 ...
  • 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 ...
  • Hybrid modeling and receding horizon control of sewer networks 

    Joseph Duran, Bernat; Ocampo-Martínez, Carlos; Cembrano Gennari, Gabriela (2014)
    Article
    Open Access
    In this work, a control-oriented sewer network model is presented based on a hybrid linear modeling framework. The model equations are described independently for each network element, thus allowing the model to be applied ...
  • Learning weakly correlated cause-effects for gardening with a cognitive system 

    Agostini, Alejandro Gabriel; Torras, Carme; Worgotter, Florentin (2014)
    Article
    Open Access
    We propose a cognitive system that combines artificial intelligence techniques for planning and learning to execute tasks involving delayed and variable correlations between the actions executed and their expected effects. ...
  • Terrain classification in complex three-dimensional outdoor environments 

    Santamaria Navarro, Àngel; Teniente Avilés, Ernesto Homar; Morta Garriga, Martí; Andrade-Cetto, Juan (2015)
    Article
    Open Access
    This paper presents two techniques to detect and classify navigable terrain in complex three-dimensional (3D) environments. The first method is a low level on-line mechanism aimed at detecting obstacles and holes at a fast ...
  • Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments 

    Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme (Springer, 2014-10-01)
    Article
    Open Access
    Robots, traditionally confined into factories, are nowadays moving to domestic and assistive environments, where they need to deal with complex object shapes, deformable materials, and pose uncertainties at human pace. To ...
  • Calibration of an outdoor distributed camera network with a 3D point cloud 

    Ortega, Agustin; Silva, Manuel; Teniente Avilés, Ernesto Homar; Ferreira, Ricardo; Bernardino Bernardino Malheiro, Alexandre José; Gaspar, José; Andrade-Cetto, Juan (2014)
    Article
    Open Access
    Outdoor camera networks are becoming ubiquitous in critical urban areas of the largest cities around the world. Although current applications of camera networks are mostly tailored to video surveillance, recent research ...

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