Reports de recerca
Recent Submissions
-
Proactive learning of cognitive exercises with a social robot
(2022-05-27)
Research report
Open AccessWe introduce INtuitive PROgramming 2 (INPRO2), an improvement over our previous INPRO framework for learning board exercises via demonstrations. INPRO2 makes use of our Online Action Recognition through Unification (OARU) ... -
Second order collocation
(2021)
Research report
Open AccessCollocation methods for optimal control commonly assume that the system dynamics is expressed as a first order ODE of the form dx/dt = f(x, u, t), where x is the state and u the control vector. However, in many cases, the ... -
Yet a better closed-form formula for the 3D nearest rotation matrix problem
(2021)
Research report
Open AccessThis technical report complements the results recently presented in [1] showing that they can be extended to define an efficient and robust method to determine the rotation matrix nearest to an arbitrary 3 × 3 matrix. This ... -
A modification of collocation methods to ensure compatible position and velocity trajectories. Documento técnico del Instituto de Robótica e Informática Industrial
(2021-05-26)
Research report
Open Access -
Course on SLAM
(2016)
Research report
Open AccessA course on simultaneous localization and mapping (SLAM) using iterative nonlinear optimization -
Fuzzy clustering application on failure rate prediction in water distribution networks
(2020)
Research report
Open AccessIn this report a new approach of failure rate prediction is presented based on Fuzzy Clustering technic for a more deterministic and accurate implementation of neuro-fuzzy systems. This technique is compared with two ... -
Visual feedback for humans about robots' perception in collaborative environments
(2020-07-20)
Research report
Open AccessDuring the last years, major advances on artificial intelligence have successfully allowed robots to perceive their environment, which not only includes static but also dynamic objects such as humans. Indeed, robotic ... -
Corner detection of deformable fabric using deep learning
(2020)
Research report
Open AccessRobotic 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
(2019)
Research report
Open AccessRecent 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
(2019)
Research report
Open AccessKinodynamic 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
(2018)
Research report
Open AccessA 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
(2019)
Research report
Open AccessIn 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 ...
RSS 1.0