Recent Submissions

  • 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 ...
  • A randomized kinodynamic planner for closed-chain robotic systems 

    Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (2019)
    External research report
    Open Access
    Kinodynamic RRT planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, cooperating ...
  • A micro Lie theory for state estimation in robotics 

    Solà Ortega, Joan; Deray, Jeremie; Atchuthan, Dinseh (2018)
    External research report
    Open Access
    A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups. As it often happens, its usage has ...
  • 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 ...
  • Leak localization in water distribution networks using pressure and a data-driven classifier approach 

    Parellada Calderer, Benjamí; Sun, Congcong; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (2019)
    External research report
    Open Access
    This report proposes a new data-driven method based on limit pressure measurements to deal with leak localization problem in WDNs, or in partitioned zones called District Metered Areas (DMAs).
  • 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, ...
  • Kinodynamic planning on constraint manifolds 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2017)
    External research report
    Open Access
    This report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ...
  • 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 ...
  • Towards SLAM with an events-based camera 

    Clavera Gilaberte, Ignasi; Solà Ortega, Joan; Andrade-Cetto, Juan (2016)
    External research report
    Open Access
    Event-based cameras have an incredible potential in real-time and real-world robotics. They would enable more efficient algorithms in applications where high demanding requirements, such as rapid dynamic motion and high ...
  • Quaternion kinematics for the error-state KF 

    Solà Ortega, Joan (2016)
    External research report
    Open Access
    A complete compendium of Quaternion formulas, with applications to Kalman filtering for visual-inertial navigation.
  • 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 ...

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