Now showing items 1-20 of 295

    • 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)
      Part of book or chapter of book
      Restricted access - publisher's policy
      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 ...
    • A bayesian approach to simultaneously recover camera pose and non-rigid shape from monocular images 

      Moreno-Noguer, Francesc; Porta Pleite, Josep Maria (2016)
      Article
      Open Access
      In this paper we bring the tools of the Simultaneous Localization and Map Building (SLAM) problem from a rigid to a deformable domain and use them to simultaneously recover the 3D shape of non-rigid surfaces and the sequence ...
    • A branch-and-prune method to solve closure equations in dual quaternions 

      Shabani, Arya; Porta Pleite, Josep Maria; Thomas, Federico (2021)
      Article
      Open Access
      Using dual quaternions, the closure equations of a kinematic loop can be expressed as a system of multiaffine quations. In this paper, this property is leveraged to introduce a branch-and-prune method specially tailored ...
    • A Cloud robotics architecture to foster individual child partnership in medical facilities 

      Navarro, Joan; Sancho-Asensio, Andreu; Garriga, Carles; Albo-Canals, J.; Ortiz-Villajos Maroto, Julio; Raya Giner, Cristóbal; Angulo Bahón, Cecilio; Miralles, David (2013)
      Conference report
      Open Access
      Robots and automation systems have become a valuable partner in several facets of human life: from learning and teaching, to daily working, including health monitoring and assistance. So far, these appealing robot-based ...
    • A hierarchical framework for collaborative artificial intelligence 

      Crowley, James L; Coutaz, Joëlle; Grosinger, Jasmin; Vázquez Salceda, Javier; Angulo Bahón, Cecilio; Sanfeliu Cortés, Alberto; Iocchi, Luca; Cohn, Anthony G. (2023-01)
      Article
      Open Access
      We propose a hierarchical framework for collaborative intelligent systems. This framework organizes research challenges based on the nature of the collaborative activity and the information that must be shared, with each ...
    • A Lifelong Learning Approach to Mobile Robot Navigation 

      Lachheb, Hajar (Universitat Politècnica de Catalunya, 2024-01-25)
      Master thesis
      Open Access
      In recent years, there has been a substantial increase in research on continuous learning methodologies aiming at equipping robots with cognitive processes that are closely related to human cognition. Our goal is to develop ...
    • A linear relaxation technique for the position analysis of multi-loop linkages 

      Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2008)
      Research report
      Open Access
      This 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 path planning proposal based on the combination of deterministic sampling and harmonic functions 

      Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander; Iñíguez Galbete, Pedro (2007-03)
      Research report
      Open Access
      The sampling-based approach is currently the most successful and yet more promising approach to path planning problems. Sampling-based methods are demonstrated to be probabilistic complete, being their performance reliant ...
    • A simple yet smart head module for mobile manipulators 

      Aguilar, Martín; Ronquillo, Diego; Rosell Gratacòs, Jan; Palomo Avellaneda, Leopold; Suárez Feijóo, Raúl (2023)
      Conference report
      Open Access
      Mobile manipulators working in semi-structured human environments need smart vision capabilities to perceive the world and interact with human operators. With this purpose in mind, this paper presents the development of a ...
    • A space decomposition method for path planning of loop linkages 

      Porta Pleite, Josep Maria; Cortés, Juan; Ros Giralt, Lluís; Thomas, Federico (2007)
      Conference report
      Open Access
      This 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 space decomposition method for path planning of loop linkages 

      Porta Pleite, Josep Maria; Cortes, Juan; Ros Giralt, Lluís; Thomas, Federico (IEEE, 2007)
      Conference report
      Open Access
      This 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 

      Velasco-Guillen, Rodrigo J.; Grosu, Victor; Carmona Ortiz, Víctor A.; Vanderborght, Bram; Lefeber, Dirk; Font Llagunes, Josep Maria; Beckerle, Philipp (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Conference report
      Restricted access - publisher's policy
      Elastic 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 ...
    • A topological extension of movement primitives for curvature modulation and sampling of robot motion 

      Colomé Figueras, Adrià; Torras, Carme (Springer Nature, 2021)
      Article
      Open Access
      This paper proposes to enrich robot motion data with trajectory curvature information. To do so,we use an approximate implementation of a topological feature named writhe, which measures the curling of a closed curve around ...
    • A Versatile Gripper for Cloth Manipulation 

      Donaire Cónsul, Sònia; Borràs Sol, Júlia; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020-10)
      Article
      Open Access
      Cloth manipulation has been mostly advancing in perception and modeling methods for cloth state estimation and grasping point detection. In comparison, less attention has been put on end-effector design. Indeed, most ...
    • A view of network robot systems in urban areas in Europe 

      Sanfeliu Cortés, Alberto (IEEE, 2008)
      Conference report
      Open Access
      Presentation of the projects in network robot systems in Europe
    • A wire-based active tracker 

      Andrade-Cetto, Juan; Thomas, Federico (IEEE, 2008)
      Article
      Open Access
      Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the ...
    • A wrench-sensitive touch pad based on a parallel structure 

      Frigola Alcalde, Roger; Ros Giralt, Lluís; Roure Fernández, Francisco; Thomas, Federico (IEEE, 2008)
      Conference report
      Open Access
      Many different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most ...
    • ACHORD: communication-aware multi-robot coordination with intermittent connectivity 

      Saboia Da Silva, Maira; Clack, Lillian; Thangavelu, Vivek; Edlund, Jeffrey; Kyohei, Otsu; Correa, Gustavo J; Varadharajan, Vivek Shankar; Santamaria Navarro, Àngel; Touma, Thomas; Bouman, Amanda; Melikyan, Hovhannes; Pailevanian, Torkom; Kim, Sung-Kyun; Archanian, Avak; Vaquero, Tiago Stegun; Beltrame, Giovanni; Napp, Nils; Pessin, Gustavo; Agha-mohammadi, Ali-akbar (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Article
      Open Access
      Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring ...
    • Action rule induction from cause-effect pairs learned through robot-teacher interaction 

      Agostini, Alejandro Gabriel; Celaya Llover, Enric; Torras, Carme; Wörgötter, Florentin (University of Karlsruhe, 2008)
      Conference report
      Open Access
      In this work we propose a decision-making system that efficiently learns behaviors in the form of rules using natural human instructions about cause-effect relations in currently observed situations, avoiding complicated ...
    • Action selection for robotic manipulation of deformable objects 

      Cuén Rochín, Saúl; Andrade-Cetto, Juan; Torras, Carme (ESF-JSPS, 2008)
      Conference report
      Open Access
      This paper deals with the manipulation of planar deformable objects for typical service robot applications. Specifically, we present a system that straightens pieces of cloth from any arbitrary initial wrinkle condition ...