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

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

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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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  • 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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Conference Publications

  • 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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  • 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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  • 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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  • 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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  • B. Dellen, S.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, to appear.

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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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  • 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, , to appear.

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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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  • 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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  • 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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  • 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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  • 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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  • A. Colomé and C. Torras. Positioning two redundant arms for cooperative manipulation of objects, 2013 International Workshop on Computational Kinematics, 2013, Barcelona, to appear.

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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 Symposium 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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  • 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 International Conference of the Catalan Association for Artificial Intelligence, 2011, Lleida, in Artificial Intelligence Research and Development, Vol 232 of Frontiers in Artificial Intelligence and Applications, pp. 101-109, IOS Press.

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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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