Now showing items 21-40 of 149

  • 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 ...
  • 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 ...
  • 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 ...
  • 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 ...
  • 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 ...
  • 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: ...
  • Combining semantic and geometric features for object class segmentation of indoor scenes 

    Husain, Syed Farzad; Schulz, Hannes; Dellen, Babette Karla Margarete; 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 Karla Margarete; 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 ...
  • DaLI: deformation and light invariant descriptor 

    Simó Serra, Edgar; Torras, Carme; Moreno-Noguer, Francesc (2015-11-01)
    Article
    Open Access
    Recent advances in 3D shape analysis and recognition have shown that heat diffusion theory can be effectively used to describe local features of deforming and scaling surfaces. In this paper, we show how this description ...
  • Deciding the different robot roles for patient cognitive training 

    Andriella, Antonio; Alenyà Ribas, Guillem; Hernández Farigola, Joan; Torras, Carme (2018-09-01)
    Article
    Restricted access - publisher's policy
    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 ...
  • Demonstration-free contextualized probabilistic movement primitives, further enhanced with obstacle avoidance 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Conference report
    Open Access
    Movement Primitives (MPs) have been widely used over the last years for learning robot motion tasks with direct Policy Search (PS) reinforcement learning. Among them, Probabilistic Movement Primitives (ProMPs) are a kind ...
  • Depth from the visual motion of a planar target induced by zooming 

    Alenyà Ribas, Guillem; Alberich Carramiñana, Maria; Torras, Carme (IEEE, 2007)
    Conference report
    Open Access
    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)
    Conference report
    Open Access
    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, ...
  • Dimensionality reduction and motion coordination in learning trajectories with dynamic movement primitives 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Dynamic Movement Primitives (DMP) are nowadays widely used as movement parametrization for learning trajectories, because of their linearity in the parameters, rescaling robustness and continuity. However, when learning a ...
  • Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Article
    Open Access
    Dynamic Movement Primitives (DMPs) are nowadays widely used as movement parametrization for learning robot trajectories, because of their linearity in the parameters, rescaling robustness and continuity. However, when ...