Recent Submissions

  • 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 ...
  • Grasping novel objects 

    Covallero, Nicola; Alenyà Ribas, Guillem (2016)
    External research report
    Open Access
    The 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 ...
  • Sistemes multi-agent 

    Golobardes Ribé, Elisabet; Pérez Quiroga, Javier; Porta Pleite, Josep Maria (1997-05-06)
    External research report
    Open Access
    In the last years a growing interest has arisen around a new paradigm called (among other names) Agents or Multi-Agents Systems. Its popularity has increased to the point that nowadays almost everyone working in Artificial ...
  • Planning trajectories for the Esautomatix workcell 

    Marquès Fàbregas, Dídac; Alenyà Ribas, Guillem (2015)
    External research report
    Open Access
    The 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 ...
  • Rigid and deformable pick and place algorithms 

    Martí Carrillo, Felip; Alenyà Ribas, Guillem (2014)
    External research report
    Open Access
    This 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 ...
  • Competitive function approximation for reinforcement learning 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric (2014)
    External research report
    Open Access
    The application of reinforcement learning to problems with continuous domains requires representing the value function by means of function approximation. We identify two aspects of reinforcement learning that make the ...
  • Teaching grasping points using natural movements 

    Isleyici, Yalim; Alenyà Ribas, Guillem (2014)
    External research report
    Open Access
    A 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 ...

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