Now showing items 1-20 of 26

    • Active learning of manipulation sequences 

      Martínez Martínez, David; Alenyà Ribas, Guillem; Jimenez Schlegl, Pablo; Torras, Carme; Rossmann, Jürgen; Wantia, Nils; Eren Erdal, Aksoy; Haller, Simon; Piater, Justus (2014)
      Conference report
      Open Access
      We describe a system allowing a robot to learn goal-directed manipulation sequences such as steps of an assembly task. Learning is based on a free mix of exploration and instruction by an external teacher, and may be active ...
    • Better understanding motion planning: A compared review of “Principles of Robot Motion: theory, algorithms, and implementations” 

      Jimenez Schlegl, Pablo (Elsevier, 2007)
      Article
      Open Access
      The textbook on Motion Planning “Principles of Robot Motion: Theory, Algorithms, and Implementations”, by H. Choset et al., MIT Press, appeared on June 2005, is reviewed and compared to other two textbooks on the same ...
    • DEM simulation of triaxial tests of railway ballast fouled with desert sand 

      Jimenez Schlegl, Pablo; Estaire, José; Zamorano, Clara; De Benito, Alejandro; Tejada, Ignacio G. (CIMNE, 2019)
      Conference report
      Open Access
      Some high-speed rail lines go through desert zones where sand particles transported by winds may foul track ballast layers. This fouling can be troublesome since it increases the stiffness of the layer and reduces ...
    • Force-based robot learning of pouring skills using parametric hidden Markov models 

      Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2013)
      Conference report
      Open Access
      Robot learning from demonstration faces new challenges when applied to tasks in which forces play a key role. Pouring liquid from a bottle into a glass is one such task, where not just a motion with a certain force profile ...
    • Historia de la robótica: de Arquitas de Tarento al robot da Vinci (Parte II) 

      Sánchez-Martín, F. M.; Jimenez Schlegl, Pablo; Millán, Félix; Salvador-Bayarri, Jose; Monllau, V.; Palou, Juan; Villavicencio, Humberto (Asociación Española de Urología, 2007)
      Article
      Open Access
      HISTORY OF ROBOTICS: FROM ARCHYTAS OF TARENTUM UNTIL DA VINCI ROBOT. (PART II) Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and ...
    • Historia de la robótica: de Arquitas de Tarento al robot da Vinci (parte II) 

      Sanchez-Martín, Francisco M.; Jimenez Schlegl, Pablo; Millan Rodriguez, Felix; Salvador-Bayarri, Jose; Monllau Font, V.; Palou Redorta, Juan; Villavicencio Mavrich, Humberto (2007)
      Article
      Open Access
      Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued ...
    • Human-robot collaborative navigation search using social reward sources 

      Dalmasso Blanch, Marc; Garrell Zulueta, Anais; Jimenez Schlegl, Pablo; Sanfeliu Cortés, Alberto (2019)
      Conference report
      Open Access
      This paper proposes a Social Reward Sources (SRS) design for a Human-Robot Collaborative Navigation (HRCN) task: human-robot collaborative search. It is a flexible approach capable of handling the collaborative task, ...
    • Learning collaborative impedance-based robot behaviors 

      Rozo Castañeda, Leonel; Calinon, Sylvain; Caldwell, Darwin; Jimenez Schlegl, Pablo; Torras, Carme (2013)
      Conference report
      Open Access
      Research in learning from demonstration has focused on transferring movements from humans to robots. However, a need is arising for robots that do not just replicate the task on their own, but that also interact with humans ...
    • Learning force-based robot skills from haptic demonstration 

      Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (IOS Press, 2010)
      Conference report
      Open Access
      Locally weighted as well as Gaussian mixtures learning algorithms are suitable strategies for trajectory learning and skill acquisition, in the context of programming by demonstration. Input streams other than visual ...
    • Learning physical collaborative robot behaviors from human demonstrations 

      Rozo Castañeda, Leonel; Calinon, Sylvain; Caldwell, Darwin; Jimenez Schlegl, Pablo; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2016-04-01)
      Article
      Open Access
      Robots are becoming safe and smart enough to work alongside people not only on manufacturing production lines, but also in spaces such as houses, museums, or hospitals. This can be significantly exploited in situations in ...
    • Natural landmark detection for visually-guided robot navigation 

      Celaya Llover, Enric; Albarral, José L.; Jimenez Schlegl, Pablo; Torras, Carme (Springer, 2007)
      Part of book or chapter of book
      Open Access
      The main difficulty to attain fully autonomous robot navigation outdoors is the fast detection of reliable visual references, and their subsequent characterization as landmarks for immediate and unambiguous recognition. ...
    • Natural landmark detection for visually-guided robot navigation 

      Celaya Llover, Enric; Albarral Garcia, Jose Luis; Jimenez Schlegl, Pablo; Torras, Carme (2007)
      Conference report
      Open Access
      The main difficulty to attain fully autonomous robot navigation outdoors is the fast detection of reliable visual references, and their subsequent characterization as landmarks for immediate and unambiguous recognition. ...
    • Perception of cloth in assistive robotic manipulation tasks 

      Jimenez Schlegl, Pablo; Torras, Carme (2020-01-01)
      Article
      Open Access
      Assistive robots need to be able to perform a large number of tasks that imply some type of cloth manipulation. These tasks include domestic chores such as laundry handling or bed-making, among others, as well as dressing ...
    • Robot learning from demonstration in the force domain 

      Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2011)
      Conference report
      Restricted access - publisher's policy
      Researchers are becoming aware of the importance of other information sources besides visual data in robot learning by demonstration (LbD). Forcebased perceptions are shown to convey very relevant information – missed by ...
    • Robot learning from demonstration of force-based tasks with multiple solution trajectories 

      Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2011)
      Conference report
      Open Access
      A learning framework with a bidirectional communication channel is proposed, where a human performs several demonstrations of a task using a haptic device (providing him/her with force-torque feedback) while a robot captures ...
    • Robot learning of container-emptying skills through haptic demonstration 

      Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2009)
      External research report
      Open Access
      Locally weighted learning algorithms are suitable strategies for trajectory learning and skill acquisition, in the context of programming by demonstration. Input streams other than visual information, as used in most ...
    • Sharpening haptic inputs for teaching a manipulation skill to a robot 

      Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2010)
      Conference report
      Open Access
      Gaussian mixtures-based learning algorithms are suitable strategies for trajectory learning and skill acquisition, in the context of programming by demonstration (PbD). Input streams other than visual information, as used ...
    • Software tools for the cognitive development of autonomous robots 

      Jimenez Schlegl, Pablo (2017)
      Conference report
      Open Access
      Robotic systems are evolving towards higher degrees of autonomy. This paper reviews the cognitive tools available nowadays for the fulfilment of abstract or long-term goals as well as for learning and modifying their behaviour.
    • Software tools for the cognitive development of autonomous robots 

      Jimenez Schlegl, Pablo (Richardson Institute - Lancaster University, 2018)
      Conference lecture
      Open Access
      The University of Barcelona, in collaboration with different Spanish and foreign institutions and universities, hosted an international workshop on the ‘Sense and Scope of Autonomy in Emerging Military and Security ...
    • Survey on assembly sequencing : a combinatorial and geometrical perspective 

      Jimenez Schlegl, Pablo (2013)
      Article
      Restricted access - publisher's policy
      A systematic overview on the subject of assembly sequencing is presented. Sequencing lies at the core of assembly planning, and variants include finding a feasible sequence—respecting the precedence constraints between the ...