Ara es mostren els items 1-20 de 82

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

    Alenyà Ribas, Guillem; Dellen, Babette; Torras, Carme (2011)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    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)
    Capítol de llibre
    Accés restringit per política de l'editorial
    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)
    Text en actes de congrés
    Accés obert
    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
    Accés obert
    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
    Accés obert
    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)
    Comunicació de congrés
    Accés obert
    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 ...
  • 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
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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 ...
  • A taxonomy of preferences for physically assistive robots 

    Canal Camprodon, Gerard; Alenyà Ribas, Guillem; Torras, Carme (IEEE Press, 2017)
    Text en actes de congrés
    Accés obert
    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 ...
  • Camera motion estimation by tracking contour deformation: precision analysis 

    Alenyà Ribas, Guillem; Torras, Carme (2010-03)
    Article
    Accés obert
    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 ...
  • Characterization of textile grasping experiments 

    Alenyà Ribas, Guillem; Ramisa Ayats, Arnau; Moreno-Noguer, Francesc; Torras, Carme (2012)
    Text en actes de congrés
    Accés obert
    Grasping highly deformable objects, like textiles, is an emerging area of research that involves both percep- tion and manipulation abilities. As new techniques appear, it becomes essential to design strategies to compare ...
  • Construcció i programació d'un cap robòtic 

    García Serrano, Aniol; Alenyà Ribas, Guillem; Foix Salmerón, Sergi (2016)
    Report de recerca
    Accés obert
    Aquest projecte ha estat desenvolupat durant l'estada a l'empresa de primer de batxillerat. Va ser dut a terme al laboratori de Percepció i Manipulació de l'IRI (Institut de Robòtica i Informàtica Industrial) i proposat i ...
  • Database for 3D human pose estimation from single depth images 

    Arduengo García, Miguel; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc (2016)
    Report de recerca
    Accés obert
    This work is part of the project I-­-DRESS (Assistive interactive robotic system for support in dressing). The specific objective is the detection of human body postures and the tracking of their movements. To this end, ...
  • Deciding the different robot roles for patient cognitive training 

    Andriella, Antonio; Alenyà Ribas, Guillem; Hernández Farigola, Joan; Torras, Carme (2018-09-01)
    Article
    Accés restringit per política de l'editorial
    Alzheimer’s Disease (AD) and Mild Cognitive Impairment (MCI) represent a major challenge for health systems within the aging population. New and better instruments will be crucial to assess the disease severity and ...
  • Depth from the visual motion of a planar target induced by zooming 

    Alenyà Ribas, Guillem; Alberich Carramiñana, Maria; Torras, Carme (IEEE, 2007)
    Text en actes de congrés
    Accés obert
    Robot egomotion can be estimated from an acquired video stream up to the scale of the scene. To remove this uncertainty (and obtain true egomotion), a distance within the scene needs to be known. If no a priori knowledge ...
  • Determining where to grasp cloth using depth information 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (IOS Press, 2011)
    Text en actes de congrés
    Accés obert
    In this paper we address the problem of finding an initial good grasping point for the robotic manipulation of textile objects lying on a flat surface. Given as input a point cloud of the cloth acquired with a 3D camera, ...
  • Diseño de un pie para un robot humanoide 

    Barbadillo Villanueva, Guillermo; Alenyà Ribas, Guillem (2010)
    Report de recerca
    Accés obert
    La propuesta se enmarca dentro del proyecto Humanoid Lab del Institut de Robòtica i Informàtica Industrial (IRI). El grupo dispone de múltiples plataformas humanoides educativas (Robonova y Bioloid). Existe una primera ...
  • Dynamically consistent probabilistic model for robot motion learning 

    Pardo Ayala, Diego Esteban; Rozo Castañeda, Leonel; Alenyà Ribas, Guillem; Torras, Carme (2012)
    Text en actes de congrés
    Accés obert
    This work presents a probabilistic model for learning robot tasks from human demonstrations using kinesthetic teaching. The difference with respect to previous works is that a complete state of the robot is used to obtain ...
  • "Elbows out": predictive tracking of partially occluded pose for robot-assisted dressing 

    Chance, Greg; Jevtic, Aleksandar; Caleb-Solly, Praminda; Alenyà Ribas, Guillem; Torras, Carme; Dogramadzi, Sanja (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Article
    Accés obert
    Robots that can assist in the Activities of Daily Living (ADL), such as dressing, may support older adults, addressing the needs of an aging population in the face of a growing shortage of care professionals. Using depth ...