Now showing items 1-18 of 18

    • 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 ...
    • Bimanual robot skills: MP encoding, dimensionality reduction and reinforcement learning 

      Colomé Figueras, Adrià (Universitat Politècnica de Catalunya, 2017-07-14)
      Doctoral thesis
      Open Access
      In our culture, robots have been in novels and cinema for a long time, but it has been specially in the last two decades when the improvements in hardware - better computational power and components - and advances in ...
    • Contribución a la identificación de sistemas dinámicos mediate métodos conexionistas 

      Griñó Cubero, Robert (Universitat Politècnica de Catalunya, 1997-10-24)
      Doctoral thesis
      Open Access
      El presente trabajo de tesis doctoral propone una clase de modelos, con estructura de red neuronal con dinámica aditiva evolucionando en tiempo continuo, para la identificación de sistemas dinámicos.<br/><br/>Para la clase ...
    • Control d’impedància variable amb primitives de moviment en espais latents amb comportament dòcil 

      Parent Alonso, David (Universitat Politècnica de Catalunya, 2019-06)
      Bachelor thesis
      Open Access
      Covenantee:   Institut de Robòtica i Informàtica Industrial
      En els últims anys la robòtica est ‘a sortint dels entorns tancats de la industria convencional per dirigir-se a treballar braç a braç amb les persones, ja sigui en l’àmbit industrial o en el domèstic. En aquest context, ...
    • Control d’un manipulador redundant basat en un model dinàmic obtingut per identificació 

      Planells Valencia, Antoni (Universitat Politècnica de Catalunya, 2014-06)
      Bachelor thesis
      Open Access
      Aquest projecte, que s'ha dut a terme a l'Institut de Robòtica i Informàtica Industrial, s'ha desenvolupat en l'àmbit de l'automàtica i el control. En ell, s'ha treballat amb el manipulador redundant WAM, un braç robòtic ...
    • Estimació del moviment de robots mitjançant contorns actius 

      Alenyà Ribas, Guillem (Universitat Politècnica de Catalunya, 2007-10-25)
      Doctoral thesis
      Open Access
      Aquesta tesi versa sobre l'estimació del moviment d'un robot mòbil a partir dels canvis en les imatges captades per una càmera muntada sobre el robot. El moviment es dedueix amb un algorisme prèviament proposat en el marc ...
    • 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 based regrasp policy from tactile feedback 

      Canal Anton, Oleguer (Universitat Politècnica de Catalunya, 2018-05)
      Bachelor thesis
      Open Access
      In the context of robotic object manipulation, this work presents a simple regrasp policy based on the tactile feedback captured by the "fingers" of the robot gripper. To do so, there is a learning based function that ...
    • 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 ...
    • Learning tasks with bimanual robots using motion symmetries 

      Cosp Arqué, Enric (Universitat Politècnica de Catalunya, 2017-07)
      Bachelor thesis
      Open Access
      The main aim of this work is to present a motion learning framework in order to make a Whole Arm Manipulator (WAM) robot learn a task. In addition, we will improve the motion learning algorithm by reducing the dimensionality ...
    • Perceiving dynamic environments : from surface geometry to semantic representation 

      Husain, Syed Farzad (Universitat Politècnica de Catalunya, 2016-10-27)
      Doctoral thesis
      Open Access
      Perceiving human environments is becoming increasingly fundamental with the gradual adaptation of robots for domestic use. High-level tasks such as the recognition of objects and actions need to be performed far the active ...
    • Policy transfer via modularity 

      Clavera Gilaberte, Ignasi (Universitat Politècnica de Catalunya, 2017-05)
      Bachelor thesis
      Open Access
      Covenantee:   University of California Berkeley. Electrical Engineering and Computer Science
      Non-prehensile manipulation, such as pushing, is an important function for robots to move objects and is sometimes preferred as an alternative to grasping. However, due to unknown frictional forces, pushing has been proven ...
    • Robot learning from demonstration of force-based manipulation tasks 

      Rozo, Leonel (Universitat Politècnica de Catalunya, 2013-06-11)
      Doctoral thesis
      Open Access
      One of the main challenges in Robotics is to develop robots that can interact with humans in a natural way, sharing the same dynamic and unstructured environments. Such an interaction may be aimed at assisting, helping or ...
    • 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, ...
    • 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, ...
    • Understanding human-centric images : from geometry to fashion 

      Simó Serra, Edgar (Universitat Politècnica de Catalunya, 2015-07-06)
      Doctoral thesis
      Open Access
      Understanding humans from photographs has always been a fundamental goal of computer vision. Early works focused on simple tasks such as detecting the location of individuals by means of bounding boxes. As the field ...
    • Workspace and singularity determination of a 7-DoF wrist-partitioned serial manipulator towards graffiti painting 

      Esquerrà Corominas, Marc (Universitat Politècnica de Catalunya, 2020-05-25)
      Bachelor thesis
      Open Access
      Covenantee:   Georgia Institute of Technology
      Els robots estan sent utilitzats, cada cop més, en la realització de tasques en la indústria. Molts d'ells també són dissenyats pensats per a realitzar les tasques de la llar. En general, els robots són dissenyats per a ...
    • Xarxes neuronals per a la generació de dissenys en blocs 

      Bofill Soliguer, Pau (Universitat Politècnica de Catalunya, 1997-11-04)
      Doctoral thesis
      Open Access