Now showing items 21-40 of 186

    • 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 ...
    • Adaptable multimodal interaction framework for robot-assisted cognitive training 

      Taranovic, Aleksandar; Jevtic, Aleksandar; Torras, Carme (2018)
      Conference report
      Open Access
      The size of the population with cognitive impairment is increasing worldwide, and socially assistive robotics offers a solution to the growing demand for professional carers. Adaptation to users generates more natural, ...
    • 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. ...
    • Adaptive modality selection algorithm in robot-assisted cognitive training 

      Taranovic, Aleksandar; Jevtic, Aleksandar; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Conference report
      Open Access
      Interaction of socially assistive robots with users is based on social cues coming from different interaction modalities, such as speech or gestures. However, using all modalities at all times may be inefficient as it can ...
    • Analysing the singularities of 6-SPS parallel robots using virtual legs 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (LIRMM, 2008)
      Conference report
      Open Access
      A virtual leg in a 6-SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. ...
    • Anticipatory science fiction to foster ethical debates on AI and robotics 

      Torras, Carme (2019)
      Conference report
      Open Access
      The influence that hyperconnectivity and our increasing interaction with machines will have on the evolution of society and on people’s daily lives is difficult to predict. Thus, when trying to anticipate the potential ...
    • Aprenentatge automàtic en xarxes i robots: reptes tecnocientífics i implicacions ètiques 

      Torras, Carme (Institut d'Estudis Catalans (IEC), 2018)
      Book
      Open Access
      Discurs de presentació de Carme Torras i Genís com a membre numerària de la Secció de Ciències i Tecnologia, llegit el dia 17 de desembre de 2018. Resum: Després de definir els conceptes d'adaptació i d'aprenentatge, es ...
    • Architectural singularities of a class of pentapods 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2011)
      Article
      Open Access
      A pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling ...
    • Architecture singularities in flagged parallel manipulators 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (IEEE, 2008)
      Conference report
      Open Access
      Flagged manipulators are of interest because they are the only Stewart-Gough platforms for which a cell decomposition of their singularity loci is available. Here we show that the known family of such manipulators can be ...
    • Assistent(e)s robòtiqu(e)s: un punt de confluència entre tecnociència i humanitats 

      Torras, Carme (2017)
      Article
      Open Access
      La robòtica industrial està donant pas a una robòtica de caire més social i assistencial. Simplificant, podríem dir que mentre els robots industrials han ocupat llocs de treball que requereixen manipular materials rígids ...
    • Assistive robotics: research challenges and ethics education initiatives 

      Torras, Carme (2019)
      Article
      Open Access
      Assistive robotics is a fast growing field aimed at helping healthcarers in hospitals, rehabilitation centers and nursery homes, as well as empowering people with reduced mobility at home, so that they can autonomously ...
    • 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 ...
    • 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 ...
    • Characterization of textile grasping experiments 

      Alenyà Ribas, Guillem; Ramisa Ayats, Arnau; Moreno-Noguer, Francesc; Torras, Carme (2012)
      Conference report
      Open Access
      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 ...
    • Closed-loop inverse kinematics for redundant robots: comparative assessment and two enhancements 

      Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Article
      Open Access
      Motivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used Closed-Loop IK (CLIK) methods for redundant robots, analysing their main points of concern: ...
    • Cognitive system framework for brain-training exercise based on human-robot interactif 

      Andriella, Antonio; Torras, Carme; Alenyà Ribas, Guillem (2020-02-25)
      Article
      Open Access
      Every 3 seconds, someone develops dementia worldwide. Brain-training exercises, preferably involving also physical activity, have shown their potential to monitor and improve the brain function of people affected by Alzheimer ...
    • Combining semantic and geometric features for object class segmentation of indoor scenes 

      Husain, Syed Farzad; Schulz, Hannes; Dellen, Babette; Torras, Carme; Behnke, Sven (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Article
      Open Access
      Scene understanding is a necessary prerequisite for robots acting autonomously in complex environments. Low-cost RGB-D cameras such as Microsoft Kinect enabled new methods for analyzing indoor scenes and are now ubiquitously ...
    • Confluència de ciència i ficció en la robòtica actual 

      Torras, Carme (Edicions Talaiots, 2015)
      Conference lecture
      Open Access
      Els robots industrials i els hominoides de la ciència-ficció, tan diferents fins ara, comencen a confluir gràcies al ràpid desenvolupament de la robòtica assistencial i de serveis. S’estan dissenyant robots que puguin ...
    • Consistent depth video segmentation using adaptive surface models 

      Husain, Syed Farzad; Dellen, Babette; Torras, Carme (2014)
      Article
      Open Access
      We propose a new approach for the segmentation of 3-D point clouds into geometric surfaces using adaptive surface models. Starting from an initial configuration, the algorithm converges to a stable segmentation through a ...