Recent Submissions

  • 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 

    Torras, Carme (2017)
    Article
    Open Access
    Els 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 

    Arduengo García, Miguel; Colomé Figueras, Adrià; Lobo Prat, Joan; Sentis, Luis; Torras, Carme (Springer, 2023-02-22)
    Article
    Open Access
    Learning 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 

    Coltraro, Franco; Amorós Torrent, Jaume; Alberich Carramiñana, Maria; Torras, Carme (Elsevier, 2024-04)
    Article
    Open Access
    In 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 ...
  • Benchmarking the sim-to-real gap in cloth manipulation 

    Blanco Mulero, David; Barbany Mayor, Oriol; Alcan, Gokhan; Colomé Figueras, Adrià; Torras, Carme; Kyrki, Ville (Institute of Electrical and Electronics Engineers (IEEE), 2024-03)
    Article
    Open Access
    Realistic physics engines play a crucial role for learning to manipulate deformable objects such as garments in simulation. By doing so, researchers can circumvent challenges such as sensing the deformation of the object ...
  • LayerNet: high-resolution semantic 3D reconstruction of clothed people 

    Corona Puyane, Enric; Alenyà Ribas, Guillem; Pons-Moll, Gerard; Moreno-Noguer, Francesc (2024-02)
    Article
    Open Access
    In this paper we introduce SMPLicit, a novel generative model to jointly represent body pose, shape and clothing geometry; and LayerNet, a deep network that given a single image of a person simultaneously performs detailed ...
  • Eduquem les criatures... també les artificials! 

    Torras, Carme (2023-04-01)
    Article
    Open Access
    Artificial és tot allò creat pels humans, ja siguin objectes d’artesania com enginys fruit de la tecnologia. Malgrat l’antiguitat dels productes artificials i de la utilització d’eines per construir-los, no és fins a ...
  • Humans i robots: ¿qui modela qui? 

    Torras, Carme (2023)
    Article
    Open Access
    En un futur ben proper, els robots socials, que avui són objecte d’intensa investigació, sens dubte ens modelaran. Individualment i com a societat. Això ens obliga a preparar-nos per respondre moltes qüestions, principalment ...
  • Gendered human–robot Interactions in services 

    Forgas Coll, Santiago; Huertas Garcia, Rubén; Andriella, Antonio; Alenyà Ribas, Guillem (2023-11)
    Article
    Open Access
    The outbreak of Covid-19 precipitated the use of service robots in customer-facing services as a replacement for employ- ees to avoid human-to-human contact. However, this development has not resolved the debate as to ...
  • Shared task representation for human–robot collaborative navigation: the collaborative search case 

    Dalmasso Blanch, Marc; Domínguez Vidal, José Enrique; Torres Rodriguez, Ivan Jesús; Jiménez Schlegl, Pablo; Garrell Zulueta, Anais; Sanfeliu Cortés, Alberto (Springer, 2023-10-30)
    Article
    Open Access
    Recent research in Human Robot Collaboration (HRC) has spread and specialised in many sub-fields. Many show considerable advances, but the human–robot collaborative navigation (HRCN) field seems to be stuck focusing on ...
  • Condition-based design of variable impedance controllers from user demonstrations 

    San Miguel Tello, Alberto; Puig Cayuela, Vicenç; Alenyà Ribas, Guillem (2023-11)
    Article
    Open Access
    This paper presents an approach to ensure conditions on Variable Impedance Controllers through the off-line tuning of the parameters involved in its description. In particular, we prove its application to term modulations ...
  • Social robot-delivered customer-facing services: an assessment of the experience 

    Forgas Coll, Santiago; Huertas Garcia, Rubén; Andriella, Antonio; Alenyà Ribas, Guillem (Taylor & Francis Group, 2023-03-12)
    Article
    Open Access
    The ability to install social intelligence protocols in robots in order for them to exhibit conversational skills has made them ideal tools for delivering services with a high cognitive and low emotional load. Little is ...
  • Generating predicate suggestions based on the space of plans: an example of planning with preferences 

    Canal Camprodon, Gerard; Torras, Carme; Alenyà Ribas, Guillem (2023-05-31)
    Article
    Open Access
    Task planning in human–robot environments tends to be particularly complex as it involves additional uncertainty introduced by the human user. Several plans, entailing few or various differences, can be obtained to solve ...

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