Recent Submissions

  • Sensitivity analysis and calibration for a two-dimensional state-space model of metal hydride storage tanks based on experimental data 

    Chen, Mingrui; Batlle Arnau, Carles; Escachx Estévez, Bryan; Costa Castelló, Ramon; Na, Jing (Elsevier, 2024-06-12)
    Article
    Open Access
    In this paper, a state-space model of a metal hydride tank is formulated and analyzed in detail. Firstly, a three-dimensional state-space model of the metal hydride tank is simplified by assuming that the tank temperature ...
  • Els reptes de la robòtica assistencial: memòria llegida per l'acadèmica electa Dra. Carme Torras i Genís, a l'acte de la seva recepció el dia 16 de febrer de 2017 

    Torras, Carme (2017)
    Article
    Open Access
    Els robots ja no estan confinats a les fàbriques, sinó que els anirem trobant cada vegada més en entorns urbans, socials i assistencials. Per arribar a ser companys de feina eficaços i assistents útils, han d’estar dotats ...
  • Gaussian-process-based robot learning from demonstration 

    Arduengo García, Miguel; Colomé Figueras, Adrià; Lobo Prat, Joan; Sentis, Luis; Torras, Carme (Springer, 2023-02-22)
    Article
    Open Access
    Learning from demonstration allows to encode task constraints from observing the motion executed by a human teacher. We present a Gaussian-process-based learning from demonstration (LfD) approach that allows robots to learn ...
  • A novel collision model for inextensible textiles and its experimental validation 

    Coltraro, Franco; Amorós Torrent, Jaume; Alberich Carramiñana, Maria; Torras, Carme (Elsevier, 2024-04)
    Article
    Open Access
    In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any ...
  • Benchmarking the sim-to-real gap in cloth manipulation 

    Blanco Mulero, David; Barbany Mayor, Oriol; Alcan, Gokhan; Colomé Figueras, Adrià; Torras, Carme; Kyrki, Ville (Institute of Electrical and Electronics Engineers (IEEE), 2024-03)
    Article
    Open Access
    Realistic physics engines play a crucial role for learning to manipulate deformable objects such as garments in simulation. By doing so, researchers can circumvent challenges such as sensing the deformation of the object ...
  • LayerNet: high-resolution semantic 3D reconstruction of clothed people 

    Corona Puyane, Enric; Alenyà Ribas, Guillem; Pons-Moll, Gerard; Moreno-Noguer, Francesc (2024-02)
    Article
    Open Access
    In this paper we introduce SMPLicit, a novel generative model to jointly represent body pose, shape and clothing geometry; and LayerNet, a deep network that given a single image of a person simultaneously performs detailed ...
  • Online estimation of the state of charge and state of health of a vanadium redox flow battery 

    Clemente León, Alejandro; Montiel Argaiz, Manuel; Barreras Toledo, Félix Manuel; Lozano Fantoba, Antonio; Escachx Estévez, Bryan; Costa Castelló, Ramon (Elsevier, 2024-04-01)
    Article
    Open Access
    This study presents an online algorithm capable to simultaneously estimate the state of charge and state of health of a vanadium redox flow battery. Starting from a general electrochemical model, some order reductions are ...
  • The inverse kinematics of lobster arms 

    Thomas, Federico; Porta Pleite, Josep Maria (2024-03-21)
    Article
    Open Access
    The roots of the closure polynomial associated with a given mechanism determine its assembly modes. In the case of 6R closed-loop mechanisms, these polynomials are usually expressed in the half-angle tangent of one of its ...
  • Model predictive control of urban drainage systems considering uncertainty 

    Lorenz Svensen, Jan; Sun, Congcong; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç (2023-11)
    Article
    Open Access
    This brief contributes to the application of model predictive control (MPC) to address the combined sewer overflow (CSO) problem in urban drainage systems (UDSs) with uncertainty. In UDS, dealing with uncertainty in rain ...
  • 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 ...
  • 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, ...
  • 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 ...

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