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

  • Visually-guided robot navigation: from artificial to natural landmarks 

    Celaya Llover, Enric; Albarral Garcia, Jose Luis; Jimenez Schlegl, Pablo; Torras, Carme (2007)
    Conference report
    Open Access
    Landmark-based navigation in unknown unstructured environments is far from solved. The bottleneck nowadays seems to be the fast detection of reliable visual references in the image stream as the robot moves. In our research, ...
  • Direct position analysis of a large family of spherical and planar parallel manipulators with four loops 

    Borràs Sol, Júlia; Di Gregorio, Raffaele (2008)
    Conference report
    Open Access
    The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint ...
  • Natural landmark detection for visually-guided robot navigation 

    Celaya Llover, Enric; Albarral Garcia, Jose Luis; Jimenez Schlegl, Pablo; Torras, Carme (2007)
    Conference report
    Open Access
    The main difficulty to attain fully autonomous robot navigation outdoors is the fast detection of reliable visual references, and their subsequent characterization as landmarks for immediate and unambiguous recognition. ...
  • Outdoor delayed-state visually augmented odometry 

    Illa, Viorela Simona; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto (IFAC, 2007)
    Conference report
    Open Access
    This paper presents an efficient approach to outdoor visually augmented odometry. The technique computes relative pose constraints via a robust least squares minimisation of 3D point correspondences, which are in turn ...
  • Vision-based loop closing for delayed state robot mapping 

    Illa, Viorela Simona; Andrade-Cetto, Juan; Valencia Carreño, Rafael; Sanfeliu Cortés, Alberto (2007)
    Conference report
    Open Access
    This paper shows results on outdoor vision-based loop closing for Simultaneous Localization and Mapping. Our experiments show that for loops of over 50m, the pose estimates maintained with a Delayed-State Extended Information ...
  • Dynamic equations of motion for a 3-bar tensegrity based mobile robot 

    Mirats Tur, Josep Maria; Hernández Juan, Sergi; Graells Rovira, Albert (2007)
    Conference report
    Open Access
    Tensegrity structures can give a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that ...
  • Outdoor landmark-view recognition based on bipartite-graph matching and logistic regression 

    Todt, Eduardo; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2007)
    Conference report
    Open Access
    This paper describes the extraction of visual landmarks from outdoor images for mobile robot applications. The concept of group of landmarks, called landmark-view, is introduced, aggregating the most relevant landmarks ...
  • Understanding motion planning better: a comparative review of “Principles of robot motion: theory, algorithms, and implementations”, by H. Choset et al. 

    Jimenez Schlegl, Pablo (Elsevier, 2007)
    Article
    Open Access
    The textbook on Motion Planning “Principles of Robot Motion: Theory, Algorithms, and Implementations”, by H. Choset et al., MIT Press, appeared on June 2005, is reviewed and compared to other two textbooks on the same ...
  • Historia de la robótica: de Arquitas de Tarento al robot da Vinci (parte II) 

    Sanchez-Martín, Francisco M.; Jimenez Schlegl, Pablo; Millan Rodriguez, Felix; Salvador-Bayarri, Jose; Monllau Font, V.; Palou Redorta, Juan; Villavicencio Mavrich, Humberto (2007)
    Article
    Open Access
    Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued ...
  • Exploiting single-cycle symmetries in branch-and-prune algorithms 

    Ruiz de Angulo García, Vicente; Torras, Carme (2007)
    Conference report
    Open Access
    As a first attempt to exploit symmetries in continuous constraint problems, we focus on permutations of the variables consisting of one single cycle. We propose a procedure that takes advantage of these symmetries by ...
  • Cognitive system framework for brain-training exercise based on human-robot interactif 

    Andriella, Antonio; Torras, Carme; Alenyà Ribas, Guillem (2020-02-25)
    Article
    Restricted access - publisher's policy
    Every 3 seconds, someone develops dementia worldwide. Brain-training exercises, preferably involving also physical activity, have shown their potential to monitor and improve the brain function of people affected by Alzheimer ...
  • Human motion prediction via spatio-temporal inpainting 

    Hernández Ruiz, Alejandro José; Gall, Juergen; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference report
    Open Access
    We propose a Generative Adversarial Network (GAN) to forecast 3D human motion given a sequence of past 3D skeleton poses. While recent GANs have shown promising results, they can only forecast plausible motion over relatively ...

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