Recent Submissions

  • 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 ...
  • 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 ...
  • Rigid and deformable pick and place algorithms 

    Martí Carrillo, Felip; Alenyà Ribas, Guillem (2014)
    External research report
    Open Access
    This technical report explains the packages used in the WAM robot to pick and place cloth or tableware objects. The goal was to check if the WAM arm robot could perform several movements to fold and unfold deformables and ...
  • Computing wrench-feasible paths for cable-driven hexapods 

    Bohigas, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2015)
    External research report
    Open Access
    Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack ...
  • Teaching grasping points using natural movements 

    Isleyici, Yalim; Alenyà Ribas, Guillem (2014)
    External research report
    Open Access
    A common strategy to teach a robot certain skills involves demonstration. While the demonstrations are best made by directly manipulating the robot, in hazardous conditions the only choice is teleoperation. Even though ...
  • The MoveIt motion planning framework configuration for the IRI WAM robot 

    Gonzàlez Esteve, Adrià; Alenyà Ribas, Guillem (2013)
    External research report
    Open Access
    Perform the setup and prepare WAM robots to use the the motion planning and obstacle avoid- ance facilities present at the MoveIt! framework. In particular, determine the configurations and API function calls to set the ...
  • Robot de telepresencia: imatge i so 

    Serra Ortega, Joan; Alenyà Ribas, Guillem (2013)
    External research report
    Open Access
    El robot Helena està dissenyat per ser un robot de telepresència que ha de servir per comunicar diferents persones d'un edifici sense necessitat de moure's.
  • Branch switching from singular points in higher-dimensional continuation 

    Bohigas Nadal, Oriol (2011)
    External research report
    Open Access
    We explain here how to perform branch switching when a singular point is found during higherdimensional continuation on a k-dimensional variety. This document is based on the information given in [1, 2, 3].
  • Monte Carlo simulations with few DOF’s in large molecules 

    Ruiz de Angulo García, Vicente (2011)
    External research report
    Open Access
    This Technical Report introduces a data structure and an algorithm to efficiently to efficiently determine rigid clusters in a given molecule. This is a relevant problem in Monte Carlo simulations where the actuated DOFs ...

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