Reports de recerca
Enviaments recents
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ROS wrapper for real-time multi-person pose estimation with a single camera
(2017)
Report de recerca
Accés obertFor 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
(2016)
Report de recerca
Accés obertAquest 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
(2016)
Report de recerca
Accés obertThe 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
(2015)
Report de recerca
Accés obertThis 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
(2015)
Report de recerca
Accés obertThis 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
(2015)
Report de recerca
Accés obertThe 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
(2015)
Report de recerca
Accés obertThis 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 ... -
Multi-master ROS systems
(2015)
Report de recerca
Accés obertThis technical report introduces the concepts, problems and a possible solution for ROS multi-master systems, that is, systems build from two or more ROS networks, each with its own roscore node. In general this environment ... -
Rigid and deformable pick and place algorithms
(2014)
Report de recerca
Accés obertThis 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
(2015)
Report de recerca
Accés obertMotion 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
(2014)
Report de recerca
Accés obertA 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
(2013)
Report de recerca
Accés obertPerform 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 ...
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