Research Project

SGR ROBÒTICA: Grup de recerca consolidat - Grup de Robòtica

Type

Regional Project

Start Date

17/09/2009

End Date

31/12/2013

Project Code

2009SGR155

Project illustration

Staff

Project Description

El grup de Robòtica de l’IRI és un grup de llarga tradició, reconegut ja en la convocatòria de l’any 1997. La recerca que es realitza en aquest grup s’organitza al voltant de dues línies complementaries de recerca: "Percepció i Manipulació" i "Cinemàtica i Disseny de Robots". Un dels objectius és millorar la comprensió que es té de la geometria de la informació perceptual, i la construcció de models d’objectes 3D que permetin executar accions amb objectes quotidians en el marc de la robòtica domèstica i de serveis. Seguint l'enfoc de la robòtica cognitiva, es treballa en la planificació i la selecció d'accions, l’aprenentatge per reforçament, i l’aprenentatge per demostració. En cinemàtica i disseny de robots es tracta l’anàlisi, el disseny i la construcció de mecanismes robotitzats: l’anàlisi cinemàtic (posició i moviment instantani), la definició de dissenys òptims (síntesi de mecanismes), la construcció de prototips físics, i la generació de moviments lliures de col•lisió.

Project Publications

Journal Publications

  • A. Colomé and C. Torras. Closed-loop inverse kinematics for redundant robots: Comparative assessment and two enhancements. IEEE/ASME Transactions on Mechatronics, 20(2): 944-955, 2015.

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  • F. Husain, B. Dellen and C. Torras. Consistent depth video segmentation using adaptive surface models. IEEE Transactions on Cybernetics, 45(2): 266-278, 2015.

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  • C. Torras. Social robots: A meeting point between science and fiction. Mètode Science Studies Journal, 82, 2014.

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  • W. Kazmi, S. Foix, G. Alenyà and H.J. Andersen. Indoor and outdoor depth imaging of leaves with time-of-flight and stereo vision sensors: Analysis and comparison. ISPRS Journal of Photogrammetry and Remote Sensing, 88: 128-146, 2014.

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  • G. Alenyà, S. Foix and C. Torras. ToF cameras for active vision in robotics. Sensors and Actuators A: Physical, 218: 10-22, 2014.

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  • G. Alenyà, S. Foix and C. Torras. Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments. Intelligent Service Robotics, 7(4): 211-220, 2014.

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  • A. Agostini, C. Torras and F. Wörgötter. Learning weakly correlated cause-effects for gardening with a cognitive system. Engineering Applications of Artificial Intelligence, 36: 178–194, 2014.

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  • J. Borràs Sol, F. Thomas and C. Torras. New geometric approaches to the analysis and design of Stewart-Gough platforms. IEEE/ASME Transactions on Mechatronics, 19(2): 445-455, 2014.

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  • P. Jiménez. Survey on assembly sequencing: A combinatorial and geometrical perspective. Journal of Intelligent Manufacturing, 24(2): 235-250, 2013.

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  • E. Todt and C. Torras. Outdoor view recognition based on landmark grouping and logistic regression. International Journal of Pattern Recognition and Artificial Intelligence, 27(3): 1-21, 2013.

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  • P. Jiménez. Survey on model-based manipulation planning of deformable objects. Robotics and Computer-Integrated Manufacturing, 28(2): 154-163, 2012.

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  • S. Ulbrich, V. Ruiz de Angulo, T. Asfour, C. Torras and R. Dillman. General robot kinematics decomposition without intermediate markers. IEEE Transactions on Neural Networks, 23(4): 620-630, 2012.

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  • S. Ulbrich, V. Ruiz de Angulo, C. Torras, T. Asfour and R. Dillman. Kinematic Bézier maps. IEEE Transactions on Systems, Man and Cybernetics: Part B, 42(4): 1215-1230, 2012.

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  • J. Borràs Sol, F. Thomas and C. Torras. Singularity-invariant families of line-plane 5-SPU platforms. IEEE Transactions on Robotics, 27(5): 837-848, 2011.

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  • J. Borràs Sol, F. Thomas and C. Torras. Architectural singularities of a class of pentapods. Mechanism and Machine Theory, 46(8): 1107-1120, 2011.

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  • M. Alberich-Carramiñana, M. Garolera, F. Thomas and C. Torras. Partially-flagged parallel manipulators: singularity charting and avoidance. IEEE Transactions on Robotics, 25(4): 771-784, 2009.

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  • M. Alberich-Carramiñana, V. González-Alonso, F. Thomas and C. Torras. Stratifications of the Euclidean motion group with applications to robotics. Geometriae Dedicata, 141(1): 19-32, 2009.

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  • J. Borràs Sol, F. Thomas and C. Torras. On Δ-Transforms. IEEE Transactions on Robotics, 25(6): 1225-1236, 2009.

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Conference Publications

  • D. Martínez, G. Alenyà and C. Torras. Planning surface cleaning tasks by learning uncertain drag actions outcomes, 2013 ICAPS Workshop on Planning and Robotics, 2013, Rome, pp. 106-111.

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  • A. Ramisa and C. Torras. Large-scale image classification using ensembles of nested dichotomies, 16th Catalan Conference on Artificial Intelligence, 2013, Vic, Spain, in Artificial Intelligence Research and Development, Vol 256 of Frontiers in Artificial Intelligence and Applications, pp. 87-90, 2013, IOS Press.

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  • C. Torras. From the Turing test to science fiction: The challenges of social robotics, 16th Catalan Conference on Artificial Intelligence, 2013, Vic, Spain, in Artificial Intelligence Research and Development, Vol 256 of Frontiers in Artificial Intelligence and Applications, pp. 5-7, 2013, IOS Press.

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  • E. Simo-Serra, A. Quattoni, C. Torras and F. Moreno-Noguer. A joint model for 2D and 3D pose estimation from a single image, 2013 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2013, Portland, pp. 3634--3641.

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  • B. Dellen, F. Husain and C. Torras. Joint segmentation and tracking of object surfaces in depth movies along human/robot manipulations, 8th International Conference on Computer Vision Theory and Applications, 2013, Barcelona, pp. 244-251.

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  • A. Colomé, D. Pardo, G. Alenyà and C. Torras. External force estimation during compliant robot manipulation, 2013 IEEE International Conference on Robotics and Automation, 2013, Karlsruhe, pp. 3535-3540.

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  • A. Colomé and C. Torras. Positioning two redundant arms for cooperative manipulation of objects, 6th International Workshop on Computational Kinematics, 2013, Barcelona, in Computational Kinematics, Vol 15 of Mechanisms and Machine Science, pp. 121-129, 2014, Springer.

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  • A. Ramisa, G. Alenyà, F. Moreno-Noguer and C. Torras. Using depth and appearance features for informed robot grasping of highly wrinkled clothes, 2012 IEEE International Conference on Robotics and Automation, 2012, St. Paul, Minnesota, USA, pp. 1703-1708, IEEE.

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  • A. Colomé and C. Torras. Redundant inverse kinematics: Experimental comparative review and two enhancements, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, Vilamoura, Portugal, pp. 5333-5340, IEEE.

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  • P. Monsó, G. Alenyà and C. Torras. POMDP approach to robotized clothes separation, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, Vilamoura, Portugal, pp. 1324-1329, IEEE.

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  • W. Kazmi, S. Foix and G. Alenyà. Plant leaf imaging using time of flight camera under sunlight, shadow and room conditions, 2012 IEEE International Symposium on Robotic and Sensors Environments, 2012, Magdeburg, Germany, pp. 192-197, IEEE.

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  • G. Alenyà, A. Ramisa, F. Moreno-Noguer and C. Torras. Characterization of textile grasping experiments, 2012 ICRA Workshop on Conditions for Replicable Experiments and Performance Comparison in Robotics Research, 2012, St Paul, Minnesota, USA, pp. 1-6.

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  • A. Colomé, D. Pardo, G. Alenyà and C. Torras. External force estimation for textile grasp detection, 2012 IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation, 2012, Vilamoura, Portugal, pp. 1-1.

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  • G. Alenyà, F. Moreno-Noguer, A. Ramisa and C. Torras. Active perception of deformable objects using 3D cameras, 2011 Workshop de Robótica Experimental, 2011, Seville, pp. 434-440.

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  • J. Borràs Sol, F. Thomas and C. Torras. New geometric approaches to the singularity analysis of parallel platforms, 2011 Workshop de Robótica Experimental, 2011, Seville, pp. 173-180.

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  • B. Dellen, G. Alenyà, S. Foix and C. Torras. Segmenting color images into surface patches by exploiting sparse depth data, 2011 IEEE Workshop on Applications of Computer Vision, 2011, Kona, Hawaii, pp. 591-598.

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  • G. Alenyà, B. Dellen and C. Torras. 3D modelling of leaves from color and ToF data for robotized plant measuring, 2011 IEEE International Conference on Robotics and Automation, 2011, Shanghai, pp. 3408-3414, IEEE.

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  • S. Foix, G. Alenyà and C. Torras. Towards plant monitoring through next best view, 14th Catalan Conference on Artificial Intelligence, 2011, Lleida, in Artificial Intelligence Research and Development, Vol 232 of Frontiers in Artificial Intelligence and Applications, pp. 101-109, 2011, IOS Press.

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  • L. Trilla and G. Alenyà. Planning stacking operations with an unknown number of objects, 7th International Conference on Informatics in Control, Automation and Robotics, 2010, Funchal, Madeira, pp. 348-353, INSTICC.

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  • L. Rozo, P. Jiménez and C. Torras. Sharpening haptic inputs for teaching a manipulation skill to a robot, 1st IEEE International Conference on Applied Bionics and Biomechanics, 2010, Venice, pp. 331-340.

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  • D. Sands, A. Perez, J. McCormack and E.T. Wolbrecht. Design method for a reconfigurable mechanism for finger rehabilitation, 15th IASTED International Conference on Robotics and Applications, 2010, Cambridge, Massachussetts, USA, pp. 1-8.

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  • A.L. Crawford, J. Molitor, A. Perez and S.C. Chiu. Design of a robotic hand and simple EMG input controller with a biologically-inspired parallel actuation system for prosthetic applications, 1st IEEE International Conference on Applied Bionics and Biomechanics, 2010, Venice, pp. 1-8.

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  • O. Bohigas, L. Ros and M. Manubens. A complete method for workspace boundary determination, 12th International Conference on Advances in Robot Kinematics, 2010, Piran-Portorož, Slovenia, in Advances in Robot Kinematics: Motion in Man and Machine, pp. 329-338, Springer Verlag.

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  • B. Dellen, G. Alenyà, S. Foix and C. Torras. 3D object reconstruction from Swissranger sensor data using a spring-mass model, 4th International Conference on Computer Vision Theory and Applications, 2009, Lisboa, pp. 368-372, 2009, INSTICC Press.

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  • J. Borràs Sol, F. Thomas and C. Torras. Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments, 5th International Workshop on Computational Kinematics, 2009, Duisburg, Germany, pp. 1-8, IFToMM.

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  • S. Ulbrich, V. Ruiz de Angulo, T. Asfour, C. Torras and R. Dillman. Rapid learning of humanoid body schemas with kinematic Bezier maps, 9th IEEE-RAS International Conference on Humanoid Robots, 2009, Paris, pp. 431-438, Unknown.

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Other Publications

  • G. Alenyà, S. Foix and C. Torras. ToF cameras for eye-in-hand robotics. In Optical Imaging Devices: New Technologies and Applications, 117-147. CRC Press - Francis Taylor Group, 2015.

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  • F. Ballesté and C. Torras. Effects of human-machine integration on the construction of identity. In Handbook of Research on Technoself: Identity in a Technological Society, 574-591. IGI Global, 2013.

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  • Y. Isleyici and G. Alenyà. Teaching grasping points using natural movements. Technical Report IRI-TR-14-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2014.

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  • J. Serra and G. Alenyà. Robot de telepresencia: imatge i so. Technical Report IRI-TR-13-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2013.

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  • A. Gonzalez and G. Alenyà. The MoveIt motion planning framework Configuration for the IRI WAM robot. Technical Report IRI-TR-13-03, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2013.

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