The Institut de Robòtica i Informàtica Industrial was created in November 1995 as a Joint Research Institute of the Spanish Council for Scientific Research (CSIC) and the Technical University of Catalonia (UPC).

The Institute was created with three main objectives: a) to promote a multidisciplinary center where CSIC and UPC researchers from different fields can combine efforts to carry out research on robotics and applied informatics; b) to offer to the community an Institute for fundamental and pre‐industrial technological research, offering also scientific education through doctorate and postgraduate courses; and c) to promote a quality‐based center being competitive enough to join other partners to participate in local, national and European research programs.

Pàgina web del Departament

Recent Submissions

  • 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 ...
  • Desplegament ètic de la robòtica assistencial per a un envelliment saludable i sostenible 

    Torras, Carme (2023-09)
    Part of book or chapter of book / Conference report
    Open Access
    En capítols anteriors s’ha parlat de l’envelliment des del punt de vista mèdic i farmacològic; aquí s'abordarà des del punt de vista tecnològic. Es descriuran tecnologies que poden ajudar els cuidadors a tenir cura de les ...
  • Collocation methods for second and higher order systems 

    Moreno Martín, Siro; Ros Giralt, Lluís; Celaya Llover, Enric (2023-02-01)
    Article
    Open Access
    It is often unnoticed that the predominant way to use collocation methods is fundamentally flawed when applied to optimal control in robotics. Such methods assume that the system dynamics is given by a first order ODE, ...
  • Robótica assistencial: una aposta per l'envelliment saludable i sostenible 

    Torras, Carme (Fundació Víctor Grifols i Lucas, 2023)
    Part of book or chapter of book
    Open Access
    La població de més de 65 anys ha augmentat de manera progressiva en les darreres dècades i els estudis prospectius avisen que continuarà creixent de manera cada vegada més accelerada. La tecnologia pot contribuir tant 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 ...
  • A hybrid control-oriented PEMFC model based on echo state networks and gaussian radial basis functions 

    Aguilar Plazaola, José Agustín; Chanal, Damien; Chamagne, Didier; Yousfi-Steiner, Nadia; Péra, Marie-Cécile; Husar, Attila Peter; Andrade-Cetto, Juan (2024-01-01)
    Article
    Open Access
    The goal of increasing efficiency and durability of fuel cells can be achieved through optimal control of their operating conditions. In order to implement such controllers, accurate and computationally efficient fuel cell ...
  • Heteroscedastic Gaussian processes and random features: scalable motion primitives with guarantees 

    Caldarelli, Edoardo; Chatalic, Antoine; Colomé Figueras, Adrià; Rosasco, Lorenzo; Torras, Carme (Proceedings of Machine Learning Research (PMLR), 2023)
    Conference report
    Open Access
    Heteroscedastic Gaussian processes (HGPs) are kernel-based, non-parametric models that can be used to infer nonlinear functions with time-varying noise. In robotics, they can be employed for learning from demonstration as ...
  • Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar 

    Vial Serrat, Pau; Palomeras Rovira, Narcís; Solà Ortega, Joan; Carreras Pérez, Marc (John Wiley & sons, 2023-12-04)
    Article
    Open Access
    The underwater domain is a challenging environment for robotics because widely used electromagnetic devices must be substituted by acoustic equivalents, much slower and noisier. In this paper a two-dimensional pose ...
  • Morse cell decomposition and parametrization of surfaces from point clouds 

    Alberich Carramiñana, Maria; Amorós Torrent, Jaume; Coltraro, Franco; Torras, Carme; Verdaguer López, Miquel (Publicacions de la Universitat Jaume I, 2022)
    Conference report
    Open Access
    An algorithm for the reconstruction of a surface from a point sample is presented. It proceeds directly from the point-cloud to obtain a cellular decomposition of the surface derived from a Morse function. No intermediate ...
  • A comparison between model-based and data-driven leak localization methods 

    Romero Ben, Luis; Blesa Izquierdo, Joaquim; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç (2023)
    Conference report
    Open Access
    Water networks are crucial infrastructures for the sustainability of modern cities, and hence their proper operation is of great importance. This includes the fast detection, localization and repair of leaks, which may ...
  • Quadratic dynamic matrix control for fast cloth manipulation 

    Caldarelli, Edoardo; Colomé Figueras, Adrià; Ocampo-Martínez, Carlos; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2023)
    Conference report
    Open Access
    Robotic cloth manipulation is an increasingly relevant area of research, challenging classic control algorithms due to the deformable nature of cloth. While it is possible to apply linear model predictive control to make ...
  • Teaching a robot where doors and drawers are and how to handle them 

    Cupec, Robert; Vidovic, Ivan; Šimundic, Valentin; Pejic, P.; Foix Salmerón, Sergi; Alenyà Ribas, Guillem (2023)
    Conference report
    Open Access
    We address the problem of teaching a service robot to detect doors and drawers in indoor environments. We propose a robust and accurate method in which a human demonstrates to the robot how to open doors and drawers that ...

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