Browsing by Subject "Robòtica"
Now showing items 1-20 of 622
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220. Els robots surten de la fàbrica
(Oficina de Mitjans de Comunicació, 2009-06)
Article
Open Access -
3D mapping and path planning from range data
(Universitat Politècnica de Catalunya, 2016-02-09)
Doctoral thesis
Open AccessThis thesis reports research on mapping, terrain classification and path planning. These are classical problems in robotics, typically studied independently, and here we link such problems by framing them within a common ... -
3D object reconstruction from Swissranger sensor data using a spring-mass model
(INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication, 2009)
Part of book or chapter of book
Restricted access - publisher's policyWe 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 Visual Task and Motion Planning
(Universitat Politècnica de Catalunya, 2024-05-28)
Bachelor thesis
Restricted access - confidentiality agreement
Covenantee: Carnegie Mellon UniversityLes tasques de manipulació robòtica en entorns humans plantejen reptes que exigeixen capacitat de planificació. Mètodes tradicionals, basats en representacions simbòliques, assumeixen una descripció minuciosa de la tasca ... -
A constructivist didactic methodology for a humanoid robotics workshop
(IEEE Press. Institute of Electrical and Electronics Engineers, 2012)
Conference lecture
Restricted access - publisher's policyThis paper presents a constructivist methodology oriented to training Robotics in its wide sense, and its implementation in higher education. A humanoid robotics workshop is included as a part of the curriculum of ... -
A feasibility-driven approach to control-limited DDP
(Springer Nature, 2022-12-01)
Article
Open AccessDifferential dynamic programming (DDP) is a direct single shooting method for trajectory optimization. Its efficiency derives from the exploitation of temporal structure (inherent to optimal control problems) and explicit ... -
A feedback simulation procedure for real-time control of urban drainage systems
(Elsevier, 2019)
Conference report
Open AccessThis paper presents a feedback simulation procedure for the real-time control (RTC) of urban drainage systems (UDS) with the aim of providing accurate state evolutions to the RTC optimizer as well as illustrating the ... -
A field study with primary school children on perception of social presence and interactive behavior with a pet robot
(2012)
Conference lecture
Open AccessThis paper presents a study on measuring (1) how children experience a pet robot, (2) how they play with it and (3) how children’s perceptions on and interaction with pet robots are interrelated. The study features different ... -
A game-theoretic approach to multi-agent interaction for increased coordination and safety in robotics
(Universitat Politècnica de Catalunya, 2024-05-24)
Bachelor thesis
Open Access
Covenantee: Princeton UniversityA mesura que augmenten les capacitats dels sistemes robòtics, també ho fa el seu potencial per ser desplegats en entorns dinàmics i altament interactius. Aquest informe es centra en el repte de raonar sobre la coordinació ... -
A kinematic-geometric approach to spatial interpretation of line drawings
(Universitat Politècnica de Catalunya, 2000-11-14)
Doctoral thesis
Open AccessThis Thesis contributes with new algorithms for line drawing interpretation. A line drawing is a 2D diagram of vertices and straight edges aiming to depict a polyhedral 3D scene. Given one such drawing we usually want ... -
A Learning from demonstration approach for robot trajectories through motion-sensing human demonstrations
(Universitat Politècnica de Catalunya, 2020-04-20)
Master thesis
Open AccessThe objective of this thesis is to teach a Baxter robot to learn certain arm trajectories. The robot must be capable of generalizing the primitive movement of the trajectory to new unseen poses. The thesis is framed ... -
A linear relaxation technique for the position analysis of multi-loop linkages
(2008)
Research report
Open AccessThis report presents a new method able to isolate all configurations that a multi-loop linkage can adopt. We tackle the problem by providing formulation and resolution techniques that fit particularly well together. The ... -
A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis
(2018-03-01)
Article
Open Access© 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form ... -
A qualitative spatial descriptor of group-robot interactions
(Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2017)
Conference report
Open AccessThe problem of finding a suitable qualitative representation for robots to reason about activity spaces where they carry out tasks such as leading or interacting with a group of people is tackled in this paper. For that, ... -
A Reactive Planning Framework for Dexterous Robotic Manipulation
(Universitat Politècnica de Catalunya, 2019-05-30)
Bachelor thesis
Open Access
Covenantee: Massachusetts Institute of TechnologyThis thesis investigates a reactive motion planning and controller framework that enables robots to manipulate objects dexterously. We develop a robotic platform that can quickly and reliably replan actions based on sensed ... -
A representation of cloth states based on a derivative of the Gauss linking integral
(Elsevier, 2023-11-15)
Article
Open AccessRobotic manipulation of cloth is a complex task because of the infinite-dimensional shape-state space of textiles, which makes their state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, ... -
A roadmap to robot motion planning software development
(2009-02-23)
Article
Open AccessPhD programs and graduate studies in robotics usually include motion planning among its main subjects. Students that focus their research in this subject find themselves trapped in the necessity of programming an environment ... -
A robot learning from demonstration framework to perform force-based manipulation tasks
(Springer, 2013)
Article
Open AccessThis 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 space decomposition method for path planning of loop linkages
(IEEE, 2007)
Conference report
Open AccessThis paper introduces box approximations as a new tool for path planning of closed-loop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. ... -
A Stiffness-fault-tolerant control strategy for an elastically actuated powered knee orthosis
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Conference report
Restricted access - publisher's policyElastic actuators can provide safe human-robot interaction and energy efficient mobility. For this purpose they are ideal for wearable robotic applications. However, such actuators are subject to stiffness faults. We present ...
