Now showing items 1-20 of 129

    • 3D modelling of leaves from color and ToF data for robotized plant measuring 

      Alenyà Ribas, Guillem; Dellen, Babette; Torras, Carme (2011)
      Conference report
      Restricted access - publisher's policy
      Supervision of long-lasting extensive botanic experiments is a promising robotic application that some recent technological advances have made feasible. Plant modelling for this application has strong demands, particularly ...
    • 3D object reconstruction from Swissranger sensor data using a spring-mass model 

      Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme (INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication, 2009)
      Part of book or chapter of book
      Restricted access - publisher's policy
      We register close-range depth images of objects using a Swissranger sensor and apply a spring-mass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with ...
    • 3D sensor planning framework for leaf probing 

      Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Open Access
      Modern plant phenotyping requires active sensing technologies and particular exploration strategies. This article proposes a new method for actively exploring a 3D region of space with the aim of localizing special areas ...
    • A 3D descriptor to detect task-oriented grasping points in clothing 

      Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (2016)
      Article
      Open Access
      Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. ...
    • A cognitive architecture for automatic gardening 

      Agostini, Alejandro Gabriel; Alenyà Ribas, Guillem; Fischbach, Andreas; Scharr, Hanno; Woergoetter, Florentin; Torras, Carme (2017-06-01)
      Article
      Open Access
      In large industrial greenhouses, plants are usually treated following well established protocols for watering, nutrients, and shading/light. While this is practical for the automation of the process, it does not tap the ...
    • A comparison of three methods for measure of time to contact 

      Alenyà Ribas, Guillem; Nègre, Amaury; Crowley, James L (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
      Conference lecture
      Open Access
      Time to Contact (TTC) is a biologically inspired method for obstacle detection and reactive control of motion that does not require scene reconstruction or 3D depth estimation. Estimating TTC is difficult because it requires ...
    • A Grasping-centered analysis for cloth manipulation 

      Borràs Sol, Júlia; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020-06-01)
      Article
      Open Access
      Compliant and soft hands have gained a lot of atten- tion in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping ...
    • A review and comparison of ontology-based approaches to robot autonomy 

      Olivares Alarcos, Alberto; Bebler, Daniel; Khamis, Alaa; Goncalves, Paulo; Habib, Maki K.; Bermejo Alonso, Julita; Barreto, Marcoss; Diab, Mohammed; Rosell Gratacòs, Jan; Quintas, João; Olszewska, Joanna; Nakawala, Hirenkumar; Pignaton de Freitas, Edison; Gyrard, Amelie; Borgo, Stefano; Alenyà Ribas, Guillem; Beetz, Michael; Li, Howard (2019-01-01)
      Article
      Open Access
      Within the next decades, robots will need to be able to execute a large variety of tasks autonomously in a large variety of environments. To relax the resulting programming effort, a knowledge-enabled approach to robot ...
    • A taxonomy of preferences for physically assistive robots 

      Canal Camprodon, Gerard; Alenyà Ribas, Guillem; Torras, Carme (IEEE Press, 2017)
      Conference report
      Open Access
      Assistive devices and technologies are getting common and some commercial products are starting to be available. However, the deployment of robots able to physically interact with a person in an assistive manner is still ...
    • A Versatile Gripper for Cloth Manipulation 

      Donaire Cónsul, Sònia; Borràs Sol, Júlia; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020-10)
      Article
      Restricted access - publisher's policy
      Cloth manipulation has been mostly advancing in perception and modeling methods for cloth state estimation and grasping point detection. In comparison, less attention has been put on end-effector design. Indeed, most ...
    • Active garment recognition and target grasping point detection using deep learning 

      Corona Puyane, Enric; Alenyà Ribas, Guillem; Gabas Nova, Antonio; Torras, Carme (2018-02-01)
      Article
      Open Access
      Identification and bi-manual handling of deformable objects, like textiles, is one of the most challenging tasks in the field of industrial and service robotics. Their unpredictable shape and pose makes it very difficult ...
    • 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 ...
    • Active perception of deformable objects using 3D cameras 

      Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Ramisa Ayats, Arnau; Torras, Carme (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
      Conference report
      Open Access
      Perception and manipulation of rigid objects has received a lot of attention, and several solutions have been proposed. In contrast, dealing with deformable objects is a relatively new and challenging task because they ...
    • Adapting robot task planning to user preferences: an assistive shoe dressing example 

      Canal Camprodon, Gerard; Alenyà Ribas, Guillem; Torras, Carme (2019-08-01)
      Article
      Open Access
      Healthcare robots will be the next big advance in humans’ domestic welfare, with robots able to assist elderly people and users with disabilities. However, each user has his/her own preferences, needs and abilities. ...
    • Are preferences useful for better assistance? A physically assistive robotics user study 

      Canal Camprodon, Gerard; Torras, Carme; Alenyà Ribas, Guillem (Association for Computing Machinery (ACM), 2021)
      Article
      Open Access
      Assistive Robots have an inherent need of adapting to the user they are assisting. This is crucial for the correct development of the task, user safety, and comfort. However, adaptation can be performed in several manners. ...
    • Automatic learning of cognitive exercises for socially assistive robotics 

      Suárez Hernández, Alejandro; Andriella, Antonio; Taranovic, Aleksandar; Segovia Aguas, Javier; Torras, Carme; Alenyà Ribas, Guillem (Institute of Electrical and Electronics Engineers (IEEE), 2021)
      Conference report
      Open Access
      In this paper, we present a learning approach to facilitate the teaching of new board exercises to assistive robotic systems. We formulate the problem as the learning of action models using Boolean predicates, disjunctive ...
    • Benchmarking bimanual cloth manipulation 

      Garcia Camacho, Irene; Lippi, Martina; Welle, Michael C.; Yin, Hang; Antonova, Rika; Varava, Anastasiia; Borràs Sol, Júlia; Torras, Carme; Marino, Alessandro; Alenyà Ribas, Guillem; Kragic, Danica (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Article
      Open Access
      Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this paper, we provide three benchmarks for evaluation and comparison ...
    • Benchmarking cloth manipulation using action graphs: an example in placing flat 

      Garcia Camacho, Irene; Borràs Sol, Júlia; Alenyà Ribas, Guillem (2021)
      Conference report
      Open Access
      Benchmarking robotic manipulation is complex due to the difficulty in reproducing and comparing results across different embodiments and scenarios. Cloth manipula- tion presents additional challenges due to the complex ...
    • Camera motion estimation by tracking contour deformation: precision analysis 

      Alenyà Ribas, Guillem; Torras, Carme (2010-03)
      Article
      Open Access
      An algorithm to estimate camera motion from the progressive deformation of a tracked contour in the acquired video stream has been previously proposed. It relies on the fact that two views of a plane are related by an ...
    • Challenge 2: Multiagent systems 

      Osman, Nardine; López Castro, Daniel; Gallego Alcalá, Víctor; Ríos Insua, David; San Miguel Ruibal, Maximino; Toboso Martín, Mario Alfonso; Noriega Blanco Vigil, Pablo; Rodríguez Aguilar, Juan Antonio; Sabater Mir, Jordi; Sierra, Carles; Zurro Hernández, Débora; Degli Esposti, Sara; Alenyà Ribas, Guillem (Consejo Superior de Investigaciones Científicas (CSIC), 2021)
      Part of book or chapter of book
      Restricted access - publisher's policy
      Our future is that of a mixed society of people and AI artifacts. A multitude of devices in our homes will need not only to make intelligent decisions, but they will also need to coordinate with each other to serve us well. ...