Now showing items 1-20 of 23

    • Adapting robot behavior to user preferences in assistive scenarios 

      Canal Camprodon, Gerard (2020-03-09)
      Doctoral thesis
      Open Access
      Robotic assistants have inspired numerous books and science fiction movies. In the real world, these kinds of devices are a growing need in amongst the elderly, who while life continue requiring more assistance. While ...
    • Algorismes d'interacció amb l'entorn per al robot DarwinOP 

      Marsal Perendreu, Júlia (Universitat Politècnica de Catalunya, 2016-06-08)
      Bachelor thesis
      Open Access
      El robot humanoide DarwinOP disposa d'un programari bàsic que serveix per a realitzar tasques bàsiques, com ara caminar i fer gestos. Aquest projecte vol dotar al robot d'un nou programari de base, que amplii aquestes ...
    • Algorithms and graphic interface design to control and teach a humanoid robot through human imitation 

      Rosanes Siscart, Marc Josep (Universitat Politècnica de Catalunya, 2011-04-11)
      Master thesis
      Open Access
      Given that human-like robots are finding their place in different areas of our world, research is being carried out in order to improve human-robot interaction. Humanoid robots not only require a human appearance but also ...
    • Autonomous user feeding by a Physically Assistive Robot 

      Vila Abad, Maria (Universitat Politècnica de Catalunya, 2019-01)
      Bachelor thesis
      Open Access
      Covenantee:   Institut de Robòtica i Informàtica Industrial
      En aquest projecte proposem un robot capaç de donar de menjar a persones autònomament. El seu comportament té en compte l'estat del món i els requisits de l'usuari per a decidir quines són les millors accions a executar ...
    • Comportament de cerca d'objectes en una sala per a un robot de servei 

      Canal Camprodon, Gerard (Universitat Politècnica de Catalunya, 2013-06-20)
      Bachelor thesis
      Open Access
      [CATALÀ] En aquest Treball Final Grau s'implementa un comportament per a un robot de servei per fer que aquest sigui capaç de cercar i trobar objectes en una sala de la qual en coneix el mapa. La resolució del problema ...
    • Creación de estructura para el aprendizaje de patrones sonoros simples mediante Memoria Temporal Jerárquica 

      Rodríguez Martínez, Miguel Angel (Universitat Politècnica de Catalunya, 2016-01)
      Master thesis (pre-Bologna period)
      Open Access
      Este proyecto de fin de carrera tiene como objetivo la creación de una infraestructura tanto física como de software que facilite y economice la investigación robótica sobre el aprendizaje cognitivo. Además, del desarrollo ...
    • Distributed framework for a multi-purpose household robotic arm 

      Monsó Purti, Pol (Universitat Politècnica de Catalunya, 2009-12-10)
      Master thesis (pre-Bologna period)
      Open Access
      The concept of household robotic servants has been in our mind for ages, and domestic appliances are far more robotised than they used to be. At present, manufacturers are starting to introduce small, household ...
    • Habilidades de navegación para el robot WAM (real o simulado) 

      Rojas Jofré, Iván Andrés (Universitat Politècnica de Catalunya, 2012-01-27)
      Master thesis (pre-Bologna period)
      Open Access
      Covenantee:   Institut de Robòtica i Informàtica Industrial
    • Integration of task and motion planning for robotics 

      Suárez Hernández, Alejandro (Universitat Politècnica de Catalunya, 2016-04-28)
      Bachelor thesis
      Open Access
      Describimos un proyecto de investigación en el cual exploramos la efectividad de una estrategia de integración de planificación simbólica y geométrica en el área de la robótica. Nos proponemos resolver un problema equiparable ...
    • Learning relational models with human interaction for planning in robotics 

      Martínez Martínez, David (Universitat Politècnica de Catalunya, 2017-02-21)
      Doctoral thesis
      Open Access
      Automated planning has proven to be useful to solve problems where an agent has to maximize a reward function by executing actions. As planners have been improved to salve more expressive and difficult problems, there is ...
    • Methodologies to minimize the Reality Gap 

      Ponsà Cobas, Sergi (Universitat Politècnica de Catalunya, 2020-07-09)
      Master thesis
      Restricted access - confidentiality agreement
      The main problem of using a real robot to learn a task by Reinforcement Learning is that a lot of policies have to be tested multiple times in order to get the most appropriate one. This is really time-consuming and has ...
    • Planificació de moviments en entorns amb incertesa per a manipulació d'objectes 

      Trilla Romero, Lluís (Universitat Politècnica de Catalunya, 2009-09)
      Master thesis
      Restricted access - author's decision
      La planificació de moviments per a la manipulació s'estudia generalment en entorns ben calibrats, on les accions i les percepcions de l'entorn determinístiques. En aquest projecte es vol explorar les implicacions de ...
    • Reinforcement learning for robotic assisted tasks 

      Civit Bertran, Aniol (Universitat Politècnica de Catalunya, 2020-07-10)
      Master thesis
      Open Access
      The increment of dependant people for the realization of Activities of Daily Living is a fact that comes implicit with the increase of population and their lifespan given by the modern technological progress. For this ...
    • ROS-Industrial i MoveIt per una cel la amb dos braços Staubli 

      Marquès Fàbregas, Dídac (Universitat Politècnica de Catalunya, 2015-01)
      Master thesis (pre-Bologna period)
      Open Access
      Aquest projecte tracta sobre la introducció del robot Staubli RX60b dins de ROS-Industrial i posteriorment l'inserció en MoveIt i Gazebo d'aquest robot en una cel la de treball. Per comprovar que les diferents eines ...
    • Supervision and fault tolerance for assistive robotics 

      San Miguel Tello, Alberto (Universitat Politècnica de Catalunya, 2019-07-18)
      Master thesis
      Open Access
      In this Master Thesis, the supervision and control problem of service robots in unknown anthropic domains has been addressed from the Fault Detection and Diagnosis (FDD) framework, presenting a complete Fault-Tolerant ...
    • Supervision of an Humanoid Robot 

      Angarano, Giulia (Universitat Politècnica de Catalunya, 2018-06-21)
      Bachelor thesis
      Open Access
      In this master thesis, the problem of supervision of an humanoid robot will be addressed. First, a model of the robot will be developed. Then, a fault detection and isolation scheme will be implemented using the linear ...
    • Task planning for table clearing of cluttered objects 

      Covallero, Nicola (Universitat Politècnica de Catalunya, 2016-06-08)
      Master thesis
      Open Access
      Covenantee:   Institut de Robòtica i Informàtica Industrial
      Manipulation planning is a field of study with increasing interest, it combines manipulation skills and an artificial intelligence system that is able to find the optimal sequence of actions in order to solve manipulation ...
    • Task-oriented viewpoint planning for free-form objects 

      Foix Salmerón, Sergi (Universitat Politècnica de Catalunya, 2016-07-28)
      Doctoral thesis
      Open Access
      This thesis deals with active sensing and its use in real exploration tasks under both scene ambiguities and measurement uncertainties. While object modeling is the implicit objective of most of active sensing algorithms, ...
    • Teaching grasping points using natural movements 

      Isleyici, Yalim (Universitat Politècnica de Catalunya, 2014-06)
      Master thesis
      Restricted access - author's decision
      Research about tasks that robotic maids should be able to perform is an emerging research area such as cooking and cleaning. Among them, manipulation of clothes is one of the hardest tasks due to the fact that textile is ...
    • Towards effective planning strategies for robots in recycling 

      Suárez Hernández, Alejandro (Universitat Politècnica de Catalunya, 2018-06-27)
      Master thesis
      Open Access
      Covenantee:   Universitat de Barcelona. Facultat de Matemàtiques i Informàtica / Universitat Rovira i Virgili. Escola Tècnica Superior d'Enginyeria
      This work presents several ideas for planning under uncertainty. We seek to recycle electromechanical devices with a robotic arm. We resort to the Markov Decision Process formulation. In order to avoid scalability issues, ...