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Linear quadratic control of nonlinear systems with Koopman operator learning and the Nyström method
(2025-07-01)
Article
Open AccessIn this paper, we study how the Koopman operator framework can be combined with kernel methods to effectively control nonlinear dynamical systems. While kernel methods have typically large computational requirements, we ... -
To each technology its own ethics? A reply to Sætra & Danaher (and their critics)
(Springer, 2024-08-22)
Article
Open AccessContemporary ethics is currently ramifying into different sub-ethics specific to each type of technology. Although this trend has been very timely and rightly called into question by Sætra and Danaher, both these authors ... -
A practical aerodynamic model for dynamic textile manipulation in robotics
(Elsevier, 2025-07)
Article
Open AccessWe study an aerodynamic model describing the interaction between cloth and air, with applications to dynamic textile manipulation by robots. After introducing the model, we investigate its theoretical implications by using ... -
Imu-based kinematic analysis to enhance upper limb motor function assessment in neuromuscular diseases
(2025-03-18)
Article
Open AccessDuchenne muscular dystrophy (DMD) and spinal muscular atrophy (SMA) are neuromuscular diseases that lead to progressive muscle degeneration and weakness. Recent therapeutic advances for DMD and SMA highlight the need for ... -
Model predictive control for dynamic cloth manipulation: parameter learning and experimental validation
(2024-07)
Article
Open AccessRobotic cloth manipulation is a challenging problem for robotic systems. Textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only understand the current configuration ... -
PoseScript: linking 3D human poses and natural language
(2024)
Article
Open AccessNatural language plays a critical role in many computer vision applications, such as image captioning, visual question answering, and cross-modal retrieval, to provide fine-grained semantic information. Unfortunately, while ... -
Deformable surface reconstruction via Riemannian metric preservation
(2024-09)
Article
Open AccessEstimating the pose of an object from a monocular image is a fundamental inverse problem in computer vision. Due to its ill-posed nature, solving this problem requires incorporating deformation priors. In practice, many ... -
Controlled Gaussian process dynamical models with application to robotic cloth manipulation
(Springer, 2023-12)
Article
Open AccessOver the last years, significant advances have been made in robotic manipulation, but still, the handling of non-rigid objects, such as cloth garments, is an open problem. Physical interaction with non-rigid objects is ... -
IMU-based systems for upper limb kinematic analysis in clinical applications: a systematic review
(2024-08-09)
Article
Open AccessWearable inertial sensors have undergone great development offering an easy approach to track physical activity for both athletes and for the general public. Their immense potential to assess motion impairment in clinical ... -
Els reptes de la robòtica assistencial: memòria llegida per l'acadèmica electa Dra. Carme Torras i Genís, a l'acte de la seva recepció el dia 16 de febrer de 2017
(2017)
Article
Open AccessEls robots ja no estan confinats a les fàbriques, sinó que els anirem trobant cada vegada més en entorns urbans, socials i assistencials. Per arribar a ser companys de feina eficaços i assistents útils, han d’estar dotats ... -
Gaussian-process-based robot learning from demonstration
(Springer, 2023-02-22)
Article
Open AccessLearning from demonstration allows to encode task constraints from observing the motion executed by a human teacher. We present a Gaussian-process-based learning from demonstration (LfD) approach that allows robots to learn ... -
A novel collision model for inextensible textiles and its experimental validation
(Elsevier, 2024-04)
Article
Open AccessIn this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any ...
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