Now showing items 1-20 of 170

    • 3D human pose tracking priors using geodesic mixture models 

      Simó Serra, Edgar; Torras, Carme; Moreno-Noguer, Francesc (2017-04-01)
      Article
      Open Access
      We present a novel approach for learning a finite mixture model on a Riemannian manifold in which Euclidean metrics are not applicable and one needs to resort to geodesic distances consistent with the manifold geometry. ...
    • 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 family of quadratically-solvable 5-SPU parallel robots 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2010)
      Conference report
      Open Access
      A 5-SPU robot with collinear universal joints is well suited to handling an axisymmetric tool, since it has 5 controllable DoFs and the remaining one is a free rotation around the tool. The kinematics of such a robot having ...
    • A friction-model-based framework for reinforcement learning of robotic tasks in non-rigid environments 

      Colomé Figueras, Adrià; Planells Valencia, Antoni; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Open Access
      Learning motion tasks in a real environment with deformable objects requires not only a Reinforcement Learning (RL) algorithm, but also a good motion characterization, a preferably compliant robot controller, and an agent ...
    • A general strategy for interactive decision-making in robotic platforms 

      Agostini, Alejandro Gabriel; Torras, Carme; Wörgötter, Florentin (2011)
      External research report
      Open Access
      This work presents an intergated strategy for planning and learning suitable to execute tasks with robotic platforms without any previous task specification. The approach rapidly learns planning operators from few action ...
    • A joint model for 2D and 3D pose estimation from a single image 

      Simó Serra, Edgar; Quattoni, Ariadna Julieta; Torras, Carme; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2013)
      Conference report
      Restricted access - publisher's policy
      We introduce a novel approach to automatically recover 3D human pose from a single image. Most previous work follows a pipelined approach: initially, a set of 2D features such as edges, joints or silhouettes are detected ...
    • A personal account of Turing’s imprint on the development of computer science 

      Díaz Cort, Josep; Torras, Carme (Elsevier, 2012)
      Article
      Open Access
      The rst part of the XX century saw the development of the digital computer and the eld of computer science. In the present paper, we sketch our vision of that period and of the role that Alan Turing and some of his ...
    • A robot learning from demonstration framework to perform force-based manipulation tasks 

      Rozo Castañeda, Leonel; Jiménez Schlegl, Pablo; Torras, Carme (Springer, 2013)
      Article
      Open Access
      This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through ...
    • 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 ...
    • Action recognition based on efficient deep feature learning in the spatio-temporal domain 

      Husain, Syed Farzad; Dellen, Babette; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Article
      Open Access
      Hand-crafted feature functions are usually designed based on the domain knowledge of a presumably controlled environment and often fail to generalize, as the statistics of real-world data cannot always be modeled correctly. ...
    • Action rule induction from cause-effect pairs learned through robot-teacher interaction 

      Agostini, Alejandro Gabriel; Celaya Llover, Enric; Torras, Carme; Wörgötter, Florentin (University of Karlsruhe, 2008)
      Conference report
      Open Access
      In this work we propose a decision-making system that efficiently learns behaviors in the form of rules using natural human instructions about cause-effect relations in currently observed situations, avoiding complicated ...
    • Action rule induction from cause-effect pairs learned through robot-teacher interaction 

      Agostini, Alejandro Gabriel; Celaya Llover, Enric; Torras, Carme; Wörgötter, Florentin (2008)
      Conference report
      Open Access
      In this work we propose a decision-making system that efficiently learns behaviors in the form of rules using natural human instructions about cause-effect relations in currently observed situations, avoiding complicated ...
    • Action selection for robotic manipulation of deformable objects 

      Cuén Rochín, Saúl; Andrade-Cetto, Juan; Torras, Carme (ESF-JSPS, 2008)
      Conference report
      Open Access
      This paper deals with the manipulation of planar deformable objects for typical service robot applications. Specifically, we present a system that straightens pieces of cloth from any arbitrary initial wrinkle condition ...
    • 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 ...