Recent Submissions

  • Visual feedback for humans about robots' perception in collaborative environments 

    Gassó Loncan, Juan Cruz; Olivares Alarcos, Alberto; Alenyà Ribas, Guillem (2020-07-20)
    External research report
    Open Access
    During the last years, major advances on artificial intelligence have successfully allowed robots to perceive their environment, which not only includes static but also dynamic objects such as humans. Indeed, robotic ...
  • Corner detection of deformable fabric using deep learning 

    Mitjans Coma, Albert; Maceira Duch, Marc; Alenyà Ribas, Guillem (2020)
    External research report
    Open Access
    Robotic manipulation of deformable objects such as a towel is one of the most challenging tasks in the field of service robotics. Their unpredictable shape and pose makes it difficult to identify the most relevant parts ...
  • Learning cloth manipulation with demonstrations 

    Jangir, Rishabh; Torras, Carme; Alenyà Ribas, Guillem (2019)
    External research report
    Open Access
    Recent advances in Deep Reinforcement learning and computational capabilities of GPUs have led to variety of research being conducted in the learning side of robotics. The main aim being that of making autonomous robots ...
  • Robots and IoT devices for assistive automation 

    Bedin, Kevin; Foix Salmerón, Sergi; Alenyà Ribas, Guillem (2019)
    External research report
    Open Access
    In recent years, we live every day in an ever more connected world. This phenomenon has developed the technologies of the Internet of Things (IoT). At the same time, advances in robotics now make it possible to have ...
  • Database for 3D human pose estimation from single depth images 

    Arduengo García, Miguel; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc (2016)
    External research report
    Open Access
    This work is part of the project I-­-DRESS (Assistive interactive robotic system for support in dressing). The specific objective is the detection of human body postures and the tracking of their movements. To this end, ...
  • ROS wrapper for real-time multi-person pose estimation with a single camera 

    Arduengo García, Miguel; Jorgensen, Steven Jens; Hambuchen, Kimberly; Sentis, Luis; Moreno-Noguer, Francesc; Alenyà Ribas, Guillem (2017)
    External research report
    Open Access
    For robots to be deployable in human occupied environments, the robots must have human-awareness and generate human-aware behaviors and policies. OpenPose is a library for real-time multi-person keypoint detection. We have ...
  • Construcció i programació d'un cap robòtic 

    García Serrano, Aniol; Alenyà Ribas, Guillem; Foix Salmerón, Sergi (2016)
    External research report
    Open Access
    Aquest projecte ha estat desenvolupat durant l'estada a l'empresa de primer de batxillerat. Va ser dut a terme al laboratori de Percepció i Manipulació de l'IRI (Institut de Robòtica i Informàtica Industrial) i proposat i ...
  • Grasping novel objects 

    Covallero, Nicola; Alenyà Ribas, Guillem (2016)
    External research report
    Open Access
    The work explained in this technical report is about evaluating some recent algorithms to grasp unforeseen objects for table clearance tasks. A tabletop object segmentation algorithm is proposed, and two recently published ...
  • Staübli work-cell: general description and operation 

    Hernández Juan, Sergi; Gabás Nova, Antonio (2015)
    External research report
    Open Access
    This technical report provides all the information necessary to operate all the elements that integrate the Staübli work-cell at the perception and manipulation laboratory at IRI. A detailed description of each of the ...
  • Autonomous navigation framework for a car-like robot 

    Hernández Juan, Sergi; Herrero Cotarelo, Fernando (2015)
    External research report
    Open Access
    This technical report describes the work done to develop a new navigation scheme for an autonomous car-like robot available at the Mobile Robotics Laboratory at IRI. To plan the general path the robot should follow (i.e. ...
  • Planning trajectories for the Esautomatix workcell 

    Marquès Fàbregas, Dídac; Alenyà Ribas, Guillem (2015)
    External research report
    Open Access
    The iri_twin_staubli_plan_execute_trajectory package allows to plan trajectories in the esautomatix cell for both, simulation in Gazebo and execution in the real robots. The esautomatix_write_trajectory package allows ...
  • Staübli work-cell: embedded controller 

    Hernández Juan, Sergi (2015)
    External research report
    Open Access
    This technical report describes the design (both hardware and software) of an embedded controller for the Staüli work-cell available at the perception and manipulation laboratory at IRI. This system is based on a commercial ...

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