Now showing items 1-20 of 204

    • 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 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 linear relaxation technique for the position analysis of multi-loop linkages 

      Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2008)
      External 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)
      External 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 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 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 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 ...
    • 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 ...
    • Action selection for single-camera SLAM 

      Vidal Calleja, Teresa; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan (2010)
      Article
      Open Access
      A method for evaluating, at video rate, the quality of actions for a single camera while mapping unknown indoor environments is presented. The strategy maximizes mutual information between measurements and states to help ...
    • Active SLAM for autonomous underwater exploration 

      Palomeras, Narcís; Carreras, Marc; Andrade-Cetto, Juan (Multidisciplinary Digital Publishing Institute (MDPI), 2019)
      Article
      Open Access
      Exploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping ...
    • 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 ...
    • An European vision of network robot systems in urban areas 

      Sanfeliu Cortés, Alberto (NRF, 2008)
      Conference report
      Open Access
      Presentation of a vision of Network Robot Systems in Europe
    • An open-source toolbox for motion analysis of closed-chain mechanisms 

      Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (Springer, 2013)
      Conference report
      Open Access
      Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), ...
    • 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. ...
    • Analysis of methods for playing human robot hide-and-seek in a simple real world urban environment 

      Goldhoorn, Alex; Sanfeliu Cortés, Alberto; Alquézar Mancho, René (Springer, 2013)
      Conference report
      Open Access
      The hide-and-seek game has many interesting aspects for studying cognitive functions in robots and the interactions between mobile robots and humans. Some MOMDP (Mixed Observable Markovian Decision Processes) models and a ...
    • Anticipating human activities from object interaction cues 

      Aranda López, Juan; Vinagre Ruiz, Manuel (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Conference report
      Restricted access - publisher's policy
      A real time approach to the recognition of human activity based on the interaction with objects in domestic settings is presented. It is based on capturing partial images where the activity takes place using a color camera, ...