@conference {6907393, year = {Submitted} } @conference {436, title = {Cloud Simulations for RoboCup}, booktitle = {RoboCup 2017}, year = {In Press}, address = {Nagoya, Japan}, author = {Enric Cervera and Gustavo A. Casa{\~n} and Ricardo Tellez} } @article {457, title = {Una experiencia en la ense{\~n}anza en secundaria de rob{\'o}tica y programaci{\'o}n con recursos remotos: el curso Tortuga del RPN}, journal = {ReVision}, volume = {10}, year = {In Press}, abstract = {
En este art{\'\i}culo se presenta una experiencia de ense{\~n}anza de programaci{\'o}n en secundaria que se realiz{\'o} durante 2015, utilizando uno de los cursos agrupados bajo la herramienta Robot Programming Network (RPN), el curso The Turtle Robot. La experiencia ha tenido una recepci{\'o}n muy positiva entre los alumnos.
\
}, keywords = {Robotics. Education. Comercial robots and applications.}, issn = {1989-1199 }, author = {Gustavo A. Casa{\~n} and Maria Pilar Ramo} } @article {420, title = {Autonomous Mobile Robots}, journal = {ReVision}, volume = {10}, year = {2017}, month = {01/2017}, type = {Short article}, keywords = {MOOC, Robotics Education}, issn = {1989-1199}, author = {Gustavo A. Casa{\~n} and Enric Cervera and Ricardo Tellez} } @article {480, title = {Economic feasibility of renewable electricity generation systems for local government office: evaluation of the Jeju special self-governing Province in South Korea}, journal = {Sustainability}, volume = {9}, year = {2017}, pages = {82}, author = {Park, Eunil and Kim, Ki Joon and Kwon, Sang Jib and Han, Taeil and Na, Wongi S and del Pobil, Angel P} } @article {409, title = {Object Detection and Recognition for Assistive Robots}, journal = {IEEE Robotics and Automation Magazine}, volume = {24}, year = {2017}, month = {09/2017}, chapter = {123}, issn = {1070-9932}, author = {E. Martinez-Martin and A.P. del Pobil} } @conference {483, title = {Robust motion detection and tracking for human-robot interaction}, booktitle = {Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction}, year = {2017}, publisher = {ACM}, organization = {ACM}, author = {Martinez-Martin, Ester and del Pobil, Angel P} } @conference {463, title = {UJI RobInLab{\textquoteright}s Approach to the Amazon Robotics Challenge 2017}, booktitle = {2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems}, year = {2017}, publisher = { IEEE Xplore}, organization = { IEEE Xplore}, address = {Daegu, Korea}, author = {Angel P. del Pobil and Majd Kassawat and Angel J Duran and Monica Arias and Nataliya Nechyporenko and Arijit Mallick and Enric Cervera and Dipendra Subedi and Ilia Vasilev and Daniel Cardin and Emanuele Sansebastiano and Ester Martinez-Martin and Antonio Morales and Gustavo A. Casa{\~n} and Alejandro Arenal and Bjorn Goriatcheff and Carlos Rubert and Gabriel Recatala} } @article {392, title = {CompaRob: The Shopping Cart Assistance Robot}, journal = {International Journal of Distributed Sensor Networks}, volume = {12}, year = {2016}, abstract = {Technology has recently been developed which offers an excellent opportunity to design systems with the ability to help people in their own houses. In particular, assisting elderly people in their environments is something that can significantly improve their quality of life. However, helping elderly people outside their usual environment is also necessary, to help them to carry out daily tasks like shopping. In this paper we present a person-following shopping cart assistance robot, capable of helping elderly people to carry products in a supermarket. First of all, the paper presents a survey of related systems that perform this task, using different approaches, such as attachable modules and computer vision. After that, the paper describes in detail the proposed system and its main features. The cart uses ultrasonic sensors and radio signals to provide a simple and effective person localization and following method. Moreover, the cart can be connected to a portable device like a smartphone or tablet, thus providing ease of use to the end user. The prototype has been tested in a grocery store, while simulations have been done to analyse its scalability in larger spaces where multiple robots could coexist.
}, doi = {10.1155/2016/4781280}, url = {http://dsn.sagepub.com/content/12/2/4781280.abstract}, author = {Sales, Jorge and Mart{\'\i}, Jose V. and Marin, Raul and Enric Cervera and Sanz, Pedro J.} } @inbook {407, title = {Conflict Resolution in Robotics: An Overview}, booktitle = {Interdisciplinary Perspectives on Contemporary Conflict Resolution}, year = {2016}, pages = {263-278}, publisher = {IGI Global}, organization = {IGI Global}, address = {Hershey}, issn = {978{\textendash}1{\textendash}5225{\textendash}0245{\textendash}6}, author = {E. Martinez-Martin and A.P. del Pobil} } @conference {482, title = {Discovering the Relationship Between the Morphology and the Internal Model in a Robot System by Means of Neural Networks}, booktitle = {International Conference on Intelligent Autonomous Systems}, year = {2016}, publisher = {Springer}, organization = {Springer}, author = {Angel J Duran and del Pobil, Angel P} } @conference {416, title = {Initial weight estimation for learning the internal model based on the knowledge of the robot morphology}, booktitle = {Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on}, year = {2016}, publisher = {IEEE}, organization = {IEEE}, author = {Angel J Duran and del Pobil, Angel P} } @article {384, title = {Introducci{\'o}n a la Programaci{\'o}n de Robots M{\'o}viles: un curso en 3D con simuladores}, journal = {ReVision}, volume = {9}, year = {2016}, type = {Short article}, abstract = {En este art{\'\i}culo se presenta un nuevo curso de programaci{\'o}n en Python y control rob{\'o}tico basada en simulaciones 3D de distintos robots m{\'o}viles al que hemos dado el nombre de Mobile Robots with The Construct. El curso s{\'o}lo requiere una conexi{\'o}n a internet y los estudiantes podr{\'a}n comenzar a adquirir conocimientos de programaci{\'o}n y rob{\'o}tica. Es parte del proyecto RPN (Robot Programming Network, http://www.robotprogramming.net, [1]), que pretende reunir robots, internet y programaci{\'o}n, combinando el potencial de las tres tecnolog{\'\i}as en un marco {\'u}nico de aprendizaje. Este curso se ha desarrollado en colaboraci{\'o}n con la empresa The Construct (http://www.theconstructsim.com/), una compa{\~n}{\'\i}a que permite el acceso a diversos simuladores rob{\'o}ticos en la nube a sus subscriptores y que nos proporciona que la posibilidad de que los alumnos se hagan una cuenta limitada en su sistema gratuitamente.
\
La principal novedad respecto a otros cursos del proyecto es que los simuladores, al emplear la {\'u}ltima tecnolog{\'\i}a y estar en la nube, garantizan el acceso permanente de los estudiantes.
}, keywords = {aprendizaje online, programaci{\'o}n de robots, Rob{\'o}ts m{\'o}viles}, issn = {1989-1199}, url = {http://www.aenui.net/ojs/index.php?journal=revision\&page=index}, author = {Gustavo A. Casa{\~n} and Enric Cervera} } @conference {403, title = {A Model of Artificial Genotype and Norm of Reaction in a Robotic System}, booktitle = {International Conference on Simulation of Adaptive Behavior}, year = {2016}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, author = {Angel J Duran and Angel P. del Pobil} } @inbook {408, title = {Object Recognition for Robot Tasks: An Overview}, booktitle = {Robotics: New Research}, number = {Robotics Research and Technology}, year = {2016}, publisher = {Nova Science Publishers}, organization = {Nova Science Publishers}, issn = {978-1-63485-967-7}, author = {E. Martinez-Martin and A.P. del Pobil} } @article {478, title = {Optimal renewable power generation systems for Busan metropolitan city in South Korea}, journal = {Renewable Energy}, volume = {88}, year = {2016}, pages = {517{\textendash}525}, author = {Baek, Seoin and Park, Eunil and Kim, Min-Gil and Kwon, Sang Jib and Kim, Ki Joon and Ohm, Jay Y and del Pobil, Angel P} } @proceedings {406, title = {An RGB-D Visual Application for Error Detection in Robot Grasping Tasks}, year = {2016}, author = {E. Martinez-Martin and A.P. del Pobil} } @article {481, title = {The robot programming network}, journal = {Journal of Intelligent \& Robotic Systems}, volume = {81}, year = {2016}, pages = {77{\textendash}95}, author = {Cervera, Enric and Martinet, Philippe and Marin, Raul and Moughlbay, Amine A and del Pobil, Angel P and Alemany, Jaime and Esteller, Roger and Casa{\~n}, Gustavo} } @book {479, title = {VISUAL NEUROSCIENCE OF ROBOTIC GRASPING.}, year = {2016}, publisher = {Springer}, organization = {Springer}, author = {Chinellato, Eris and del Pobil, Angel P} } @conference {347, title = {Adaptive Saccade Controller Inspired by the Primates{\textquoteright} Cerebellum}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2015}, month = {05/2015}, address = {Seattle, Washington, USA}, abstract = {The concepts of corporate social responsibility (CSR) and user experience have been identified as core determinants of the success of service providers. Accordingly, practitioners and researchers have investigated the effects of service providers{\textquoteright} CSR and user experience on behavioral intention to use a particular service. Based on the importance of these concepts, the current study integrates subjective dimensions of CSR with the technology acceptance model (TAM) to explore whether the CSR efforts of mobile telecommunication services providers and the service acceptance of their customers have significant effects on behavioral intention to use a service. We apply structural equation modeling and find that two factors from the TAM (i.e., usefulness and ease of use) as well as economic, social, and environmental responsibility are significantly related to customer attitude and satisfaction. Moreover, our results show that there are significantly positive relationships between customer attitude and behavioral intention to use a service, as well as between customer satisfaction and intention. Practical and theoretical implications along with notable limitations of the current study are presented.
}, issn = {2071-1050}, doi = {10.3390/su70811345}, url = {http://www.mdpi.com/2071-1050/7/8/11345}, author = {Lee, Sanghoon and Park, Eunil and Kwon, Sang Jib and Angel P. del Pobil} } @conference {401, title = {Body Language for Mood Induction Procedures}, booktitle = {Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts}, year = {2015}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {human-robot interaction, mood induction procedure}, isbn = {978-1-4503-3318-4}, doi = {10.1145/2701973.2702024}, url = {http://doi.acm.org/10.1145/2701973.2702024}, author = {Diaz, Cristina and Angel P. del Pobil and Garcia, Azucena and Castilla, Diana and Miralles, Ignacio} } @article {395, title = {Determinants of Behavioral Intention to Use South Korean Airline Services: Effects of Service Quality and Corporate Social Responsibility}, journal = {Sustainability}, volume = {7}, year = {2015}, pages = {12106}, abstract = {Since the introduction of corporate social responsibility (CSR), it has become an important duty of companies and organizations. In addition, academic and industry researchers have attempted to explore the effects of corporate social responsibility on firm performance. To this end, this study examined how corporate social responsibility and service quality are notably associated with customer satisfaction and behavioral intention to use by employing a structural equation modeling method. A research model with nine constructs was introduced and the findings revealed that economic, social, and environmental responsibility, as well as in-flight service quality, significantly determined customer satisfaction, while there were notable connections between customer satisfaction and behavioral intention to use. However, service quality at airports did not have a significant effect on satisfaction. The practical and theoretical implications of the current study are discussed.
}, issn = {2071-1050}, doi = {10.3390/su70912106}, url = {http://www.mdpi.com/2071-1050/7/9/12106}, author = {Park, Eunil and Lee, Sanghoon and Kwon, Sang Jib and Angel P. del Pobil} } @conference {400, title = {How important is body language in mood induction procedures with a humanoid robot?}, booktitle = {Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on}, year = {2015}, month = {Aug}, keywords = {emotion induction, Emotion recognition, humanoid robot, Humanoid robots, learning (artificial intelligence), Libraries, MIP, Mood, mood induction procedure, positive attitude, positive body language, positive induction effect, positive psychology principle, PP, psychology, social learning, Speech, therapeutic robotics, Velten method, Velten positive statements}, doi = {10.1109/ROMAN.2015.7333697}, author = {C. D{\'\i}az-Montilla and Angel P. del Pobil} } @article {356, title = {NAO Race Competition}, journal = {ReVisi{\'o}n}, volume = {8}, year = {2015}, month = {10/2015}, type = {Short Article}, abstract = {En este art{\'\i}culo se presenta una nueva competici{\'o}n de programaci{\'o}n y control rob{\'o}tico basada en simulaciones de una carrera a pie con el robot humanoide NAO. El desafio s{\'o}lo requiere una conexi{\'o}n a internet y conocimientos de programaci{\'o}n en Python y rob{\'o}tica, por lo que estudiantes universitarios de carreras t{\'e}cnicas pueden encontrarla accesible e interesante.
}, keywords = {NAO, Programming, Robotic competition}, issn = {1989-1199}, url = {http://www.aenui.net/ojs/index.php?journal=revision\&page=article\&op=view\&path\%5B\%5D=217}, author = {Gustavo A. Casa{\~n} and Enric Cervera and Olivier Michel and Ricardo Tellez} } @conference {340, title = {Online teaching of humanoid robots}, booktitle = {Human Robot Interaction Education Workshop}, year = {2015}, month = {03/2015}, address = {Portland, Oregon}, abstract = {In this paper we present an on-line course on programming humanoids robots integrated in the Robotic Programming Network (RPN). Our aim is to create an open course which allows students (from high school age onwards) to access real humanoid robots and program them in a realistic human environment, learning how to use them as extensions of their own bodies to solve problems. This course can give a bigger number of students the opportunity to learn how to program humanoid robots, solve real problems and enter into the complex world of remote interaction, telerobotics and telepresence. In the course the students can advance at their own velocity, outside the traditional teacher talks-students listen environment. For the course we adopted a problem solving organization, which have demonstrated its advantages when teaching STEM. They are presented a series of real problems of increasing difficulty that they have to solve through programming.
}, keywords = {Humanoid robots, online, Programming, teaching}, url = {http://www.rose-hulman.edu/academics/multidisciplinary-opportunities/robotics/hri-education-workshop.aspx}, author = {Gustavo A. Casa{\~n} and Enric Cervera and Angel P. del Pobil} } @article {343, title = {The Robot Programming Network}, journal = {Journal of Inteligent and Robotic Sytems}, volume = {81}, year = {2015}, month = {12/2015}, chapter = {77}, abstract = {The Robot Programming Network (RPN) is an initiative for creating a network of robotics education laboratories with remote programming capabilities. It consists of both online open course materials and online servers that are ready to execute and test the programs written by remote students. Online materials include introductory course modules on robot programming, mobile robotics and humanoids, aimed to learn from basic concepts in science, technology, engineering, and mathematics (STEM) to more advanced programming skills. The students have access to the online server hosts, where they submit and run their programming code on the fly. The hosts run a variety of robot simulation environments, and access to real robots can also be granted, upon successful achievement of the course modules. The learning materials provide step-by-step guidance for solving problems with increasing level of difficulty. Skill tests and challenges are given for checking the success, and online competitions are scheduled for additional motivation and fun. Use of standard robotics.
}, keywords = {Online learning, Remote laboratories, robot programming}, issn = {0921-0296}, doi = {DOI 10.1007/s10846-015-0201-7}, author = {Enric Cervera and Philippe Martinet and Marin, Raul and Abou Moughlbay, Amine and Angel P. del Pobil and Jaime Alemany and Esteller-Curto, Roger and Gustavo A. Casa{\~n}} } @article {313, title = {Robot Programming Network: un sistema distribuido para el aprendizaje de la programaci{\'o}n de robots}, journal = {ReVisi{\'o}n}, volume = {8}, year = {2015}, month = {01/2015}, abstract = {La red RPN (Robot Programming Network, http://www.robotprogramming.net) es una iniciativa para crear una red de laboratorios educativos de rob{\'o}tica con capacidadades de programaci{\'o}n remotas. Consiste en materiales abiertos en l{\'\i}nea y servidores que est{\'a}n preparados para que los estudiantes puedan probar sus programas en el mismo momento que los realizan. El c{\'o}digo fuente del proyecto es abierto y est{\'a} disponible para cualquier persona interesada.
Los servidores ejecutan varios entornos de simulaci{\'o}n rob{\'o}tica, pero tambi{\'e}n se puede ofrecer acceso a robots reales. El uso del est{\'a}ndar Robotic Operating System (ROS) permite que el sistema se ampl{\'\i}e a un gran n{\'u}mero de plataformas de robots y que se pueda conectar a laboratorios ya existentes, para la construcci{\'o}n de una gran red social de ense{\~n}anza de rob{\'o}tica.
Los materiales de aprendizaje ofrecen una gu{\'\i}a paso a paso para la soluci{\'o}n de problemas con un paulatino aumento del nivel de dificultad. Se aplican t{\'e}cnicas de gamificaci{\'o}n (ludificaci{\'o}n), para hacer el entorno m{\'a}s atractivo y fidelizar a los alumnos.
}, keywords = {Education, On-line, Programming, Robotics}, issn = {1989-1199}, url = {http://www.aenui.net/ojs/index.php?journal=revision\&page=article\&op=view\&path\%5B\%5D=158}, author = {Gustavo A. Casa{\~n} and Enric Cervera} } @conference {341, title = {ROS-Based Online Robot Programming for Remote Education and Training}, booktitle = {2015 IEEE International Conference on Robotics and Automation}, year = {2015}, month = {05/2015}, address = {Seattle, USA}, abstract = {RPN (Robotic Programming Network) is an initiative\ to bring existing remote robot laboratories to a new\ dimension, by adding the flexibility and power of writing ROS\ code in an Internet browser and running it in the remote robot\ with a single click. The code is executed in the robot server\ at full speed, i.e. without any communication delay, and the\ output of the process is returned back. Built upon Robot Web\ Tools, RPN works out-of-the-box in any ROS-based robot or\ simulator. This paper presents the core functionality of RPN\ in the context of a web-enabled ROS system, its possibilities\ for remote education and training, and some experimentation\ with simulators and real robots in which we have integrated\ the tool in a Moodle environment, creating some programming\ courses and make it open to researchers and students (http://robotprogramming.uji.es).
\
}, keywords = {Design, Experimentation, Languages, online, Programming, Robots, teaching}, author = {Gustavo A. Casa{\~n} and Enric Cervera and Abou Moughlbay, Amine and Jaime Alemany and Philippe Martinet} } @article {353, title = {RPN: aprendizaje de la programaci{\'o}n de robots mediante bloques en un entorno 3D}, journal = {ReVisi{\'o}n}, volume = {8}, year = {2015}, month = {09/2015}, type = {Short article}, abstract = {El proyecto RPN pretende reunir tres componentes: robots, internet y programaci{\'o}n, combinando el potencial de las tres tecnolog{\'\i}as en un marco {\'u}nico de aprendizaje. En este art{\'\i}culo presentamos un nuevo curso integrado dentro del sistema RPN que aporta dos grandes novedades: un simulador rob{\'o}tico en tres dimensiones, que hace m{\'a}s atractivo el curso y la utilizaci{\'o}n de un entorno de programaci{\'o}n con bloques, para facilitar el aprendizaje a los m{\'a}s j{\'o}venes.
}, keywords = {Block programming, Online learning, Robotics}, issn = {1989-1199}, url = {http://www.aenui.net/ReVision/}, author = {G. A. Casa{\~n} and Enric Cervera} } @conference {374, title = {Tombatossals: A humanoid torso for autonomous sensor-based tasks}, booktitle = {Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on}, year = {2015}, publisher = {IEEE}, organization = {IEEE}, author = {Felip, Javier and Angel J Duran and Antonelli, Marco and Morales, Antonio and Angel P. del Pobil} } @article {393, title = {Toward the Robot Butler: The HUMABOT Challenge [Competitions]}, journal = {IEEE Robotics Automation Magazine}, volume = {22}, year = {2015}, month = {June}, pages = {8-17}, issn = {1070-9932}, doi = {10.1109/MRA.2015.2418511}, author = {Enric Cervera and J. C. Garcia and P. J. Sanz} } @inbook {405, title = {UJI HRI-BD: A New Human-Robot Interaction Benchmark Dataset}, booktitle = {Human-Robot Interactions. Principles, Technologies and Challenges}, year = {2015}, pages = {57{\textendash}74}, publisher = {Nova Publishers New York}, organization = {Nova Publishers New York}, issn = {978{\textendash}1{\textendash}63463{\textendash}774{\textendash}9}, author = {E. Martinez-Martin and A.P. del Pobil} } @article {394, title = {Usability of the Stylus Pen in Mobile Electronic Documentation}, journal = {Electronics}, volume = {4}, year = {2015}, pages = {922}, abstract = {Stylus pens are often used with mobile information devices. However, few studies have examined the stylus{\textquoteright} simple movements because the technical expertise to support documentation with stylus pens has not been developed. This study examined the usability of stylus pens in authentic documentation tasks, including three main tasks (sentence, table, and paragraph making) with two types of styluses (touchsmart stylus and mobile stylus) and a traditional pen. The statistical results showed that participants preferred the traditional pen in all criteria. Because of inconvenient hand movements, the mobile stylus was the least preferred on every task. Mobility does not provide any advantage in using the stylus. In addition, the study also found inconvenient hand support using a stylus and different feedback between a stylus and a traditional pen.
}, issn = {2079-9292}, doi = {10.3390/electronics4040922}, url = {http://www.mdpi.com/2079-9292/4/4/922}, author = {Park, Eunil and Angel P. del Pobil and Kwon, Sang Jib} } @article {192, title = {An Active System for Visually-Guided Reaching in 3D Across Binocular Fixations}, journal = {The Scientific World Journal}, volume = {2014}, year = {2014}, month = {02/2014}, abstract = {Based on the importance of relative disparity between objects for accurate hand-eye coordination, this paper presents a biological approach inspired by the cortical neural architecture. So, the motor information is coded in egocentric coordinates obtained from the allocentric representation of the space (in terms of disparity) generated from the egocentric representation of the visual information (image coordinates). In that way, the different aspects of the visuomotor coordination are integrated: an active vision system, composed of two vergent cameras; a module for the 2D binocular disparity estimation based on a local estimation of phase differences performed through a bank of Gabor filters; and a robotic actuator to perform the corresponding tasks (visually-guided reaching). The approach{\textquoteright}s performance is evaluated through experiments on both simulated and real data.
}, author = {Ester Martinez-Martin and Angel P. del Pobil and M. Chessa and F. Solari and S.P. Sabatini} } @inbook {315, title = {Animal Social Behaviour: A Visual Analysis}, booktitle = {From Animals to Animats 13}, series = {Lecture Notes in Computer Science}, volume = {8575}, year = {2014}, pages = {320-327}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, isbn = {978-3-319-08863-1}, doi = {10.1007/978-3-319-08864-8_31}, url = {http://dx.doi.org/10.1007/978-3-319-08864-8_31}, author = {Martinez-Martin, Ester and Angel P. del Pobil}, editor = {Angel P. del Pobil and Eris Chinellato and Martinez-Martin, Ester and Hallam, John and Enric Cervera and Antonio Morales} } @conference {289, title = {Bayesian Multimodal Integration in a Robot Replicating Human Head and Eye Movements}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2014}, keywords = {eye-movements, head-saccades, model, multisensory-integration, neurorobotics, Robotics}, author = {Marco Antonelli and Angel P. del Pobil and Rucci, Michele} } @conference {6907393, title = {Characterization of grasp quality measures for evaluating robotic hands prehension}, booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2014}, month = {May}, pages = {3688-3693}, keywords = {analytical metrics, Barrett hand grasping, Correlation, exhaustive simulation testing, grasp quality measure characterization, grasp quality metrics, Joints, manipulators, robotic hand prehension, Robots, Sensitivity, Shape, Vectors}, issn = {1050-4729}, doi = {10.1109/ICRA.2014.6907393}, author = {B. Le{\'o}n and C. Rubert and J. Sancho-Bru and A. Morales} } @article {398, title = {Fostering Progress in Performance Evaluation and Benchmarking of Robotic and Automation Systems [TC Spotlight]}, journal = {IEEE Robotics Automation Magazine}, volume = {21}, year = {2014}, month = {March}, pages = {22-25}, keywords = {Automation, automation systems, benchmark testing, benchmarking, daily life activities, engineering systems, fostering progress, performance evaluation, robot adaptive behavior, robot antifragile behavior, robot intelligent behavior, Robot kinematics, robot robust behavior, Robot sensing systems, robot tasks, robotic systems, Robots}, issn = {1070-9932}, doi = {10.1109/MRA.2014.2298363}, author = {F. Bonsignorio and Angel P. del Pobil and E. Messina} } @article {397, title = {Grasp modelling with a biomechanical model of the hand}, journal = {Computer Methods in Biomechanics and Biomedical Engineering}, volume = {17}, year = {2014}, pages = {297-310}, doi = {10.1080/10255842.2012.682156}, url = {http://dx.doi.org/10.1080/10255842.2012.682156}, author = {Joaqu{\'\i}n L. Sancho-Bru and Marta C. Mora and Beatriz E. Le{\'o}n and Antonio P{\'e}rez-Gonz{\'a}lez and Jos{\'e} L. Iserte and Antonio Morales} } @conference {7041449, title = {Grasp quality metrics for robot hands benchmarking}, booktitle = {2014 IEEE-RAS International Conference on Humanoid Robots}, year = {2014}, month = {Nov}, pages = {761-766}, keywords = {Computational modeling, grasp configurations, grasp quality metrics, Grasping, grasping capabilities, Humanoid robots, Joints, manipulators, Measurement, robot hand designs, robot hands benchmarking, Robots, Standards, Synchronous digital hierarchy}, issn = {2164-0572}, doi = {10.1109/HUMANOIDS.2014.7041449}, author = {C. Rubert and B. Le{\'o}n and A. Morales} } @article {296, title = {A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot}, journal = {IEEE Trans. Auton. Mental Develop}, year = {2014}, pages = {1{\textendash}15}, doi = {10.1109/TAMD.2014.2332875}, author = {Marco Antonelli and Gibaldi, Agostino and Beuth, Frederik and Angel J Duran and Canessa, Andrea and Chessa, Manuela and Solari, F and Angel P. del Pobil and Hamker, F and Eris Chinellato and Sabatini, SP} } @article {Antonelli2014, title = {Learning the visual-oculomotor transformation: Effects on saccade control and space representation}, journal = {Robotics and Autonomous Systems}, year = {2014}, abstract = {Active eye movements can be exploited to build a visuomotor representation of the surrounding environment. Maintaining and improving such representation requires to update the internal model involved in the generation of eye movements. From this perspective, action and perception are thus tightly coupled and interdependent. In this work, we encoded the internal model for oculomotor control with an adaptive filter inspired by the functionality of the cerebellum. Recurrent loops between a feed-back controller and the internal model allow our system to perform accurate binocular saccades and create an implicit representation of the nearby space. Simulations results show that this recurrent architecture outperforms classical feedback-error-learning in terms of both accuracy and sensitivity to system parameters. The proposed approach was validated implementing the framework on an anthropomorphic robotic head.
}, keywords = {Cerebellum, Gaussian process regression, Humanoid robotics, Sensorimotor transformation, stereo vision}, issn = {09218890}, doi = {10.1016/j.robot.2014.11.018}, url = {http://www.sciencedirect.com/science/article/pii/S092188901400311X}, author = {Marco Antonelli and Angel J Duran and Eris Chinellato and Angel P. del Pobil} } @article {399, title = {Optimized Renewable and Sustainable Electricity Generation Systems for Ulleungdo Island in South Korea}, journal = {Sustainability}, volume = {6}, year = {2014}, pages = {7883}, abstract = {The South Korean government has long been attempting to reduce the nation{\textquoteright}s heavy reliance on fossil fuels and increase environmental safety by developing and installing renewable power generation infrastructures and implementing policies for promoting the green growth of Korea{\textquoteright}s energy industry. This study focuses on the use of independent renewable power generation systems in the more than 3000 officially affirmed islands off Korea{\textquoteright}s coast and proposes a simulated solution to the electricity load demand on Ulleungdo Island that incorporates several energy sources (including solar, batteries, and wind) as well as one hydro-electric and two diesel generators. Recommendations based on the simulation results and the limitations of the study are discussed.
}, issn = {2071-1050}, doi = {10.3390/su6117883}, url = {http://www.mdpi.com/2071-1050/6/11/7883}, author = {Yoo, Kyeongsik and Park, Eunil and Kim, Heetae and Ohm, Jay Y. and Yang, Taeyong and Kim, Ki Joon and Chang, Hyun Joon and Angel P. del Pobil} } @proceedings {103, title = {Application of the Visuo-Oculomotor Transformation to Ballistic and Visually-Guided Eye Movements}, year = {2013}, author = {Marco Antonelli and Angel J Duran and Angel P. del Pobil} } @proceedings {105, title = {Contact Localization through Robot and Object Motion from Point Clouds}, year = {2013}, month = {10/2013}, publisher = {IEEE}, address = {Atlanta, GA, USA}, abstract = {Abstract:\ In this paper we address the problem of detecting contacts between a robot hand and an object during the approach and execution phases of manipulation tasks as a complement of touch perception. The motion produced on objects by unnoticed contacts is exploited to trigger the contact localization. Our method combines robot motion with tracking of target objects by means of point cloud to probabilistically estimate the location of contacts on a occupancy grid map. No previous knowledge on the object shape is required. The proposed approach is implemented on a real platform and experimentally validated in several cases.
}, keywords = {Physical interaction, Tactile perception, visual perception}, issn = {978-1-4799-2618-3}, author = {Jose Bernabe and Javier Felip and Angel P. del Pobil and Antonio Morales} } @inbook {101, title = {Depth Estimation during Fixational Head Movements in a Humanoid Robot}, booktitle = {Computer Vision Systems}, series = {Lecture Notes in Computer Science}, volume = {7963}, number = {Lecture Notes in Computer Science}, year = {2013}, pages = {264-273}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, abstract = {Under natural viewing conditions, humans are not aware of continually performing small head and eye movements in the periods in between voluntary relocations of gaze. It has been recently shown that these fixational head movements provide useful depth information in the form of parallax. Here, we replicate this coordinated head and eye movements in a humanoid robot and describe a method for extracting the resulting depth information. Proprioceptive signals are interpreted by means of a kinematic model of the robot to compute the velocity of the camera. The resulting signal is then optimally integrated with the optic flow to estimate depth in the scene. We present the results of simulations which validate the proposed approach.
}, isbn = {978-3-642-39401-0}, doi = {10.1007/978-3-642-39402-7_27}, url = {http://dx.doi.org/10.1007/978-3-642-39402-7_27}, author = {Marco Antonelli and Angel P. del Pobil and Rucci, Michele}, editor = {Chen, Mei and Leibe, Bastian and Neumann, Bernd} } @conference {122, title = {Evaluation of Prosthetic Hands Prehension Using Grasp Quality Measures}, booktitle = {Intelligent Robots and Systems (IROS)}, year = {2013}, month = {11/2013}, author = {Beatriz Le{\'o}n and C. Rubert and J.L. Sancho-Bru and Antonio Morales} } @inbook {181, title = {Find It {\textendash} An Assistant Home Agent}, booktitle = {Trends in Practical Applications of Agent and Multi-Agent}, volume = {221}, year = {2013}, pages = {121-128}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, chapter = {Find It {\textendash} An Assistant Home Agent}, isbn = {978{\textendash}3{\textendash}319{\textendash}00562{\textendash}1}, author = {A. Costa and Ester Martinez-Martin and Angel P. del Pobil and R. Simoes and P. Novais} } @inbook {39, title = {Integration of Visuomotor Learning, Cognitive Grasping and Sensor-Based Physical Interaction in the UJI Humanoid Torso}, booktitle = {Designing Intelligent Robots: Reintegrating AI}, volume = {SS-13-04}, year = {2013}, pages = {pp. 6-11}, publisher = {AAAI}, organization = {AAAI}, isbn = {978-1-57735-601-1}, author = {Angel P. del Pobil and Angel J Duran and Marco Antonelli and Javier Felip and Antonio Morales and M. Prats and Eris Chinellato} } @article {65, title = {Model of tactile sensors using soft contacts and its application in robot grasping simulation}, journal = {Robotics and Autonomous Systems}, volume = {61}, year = {2013}, pages = {1 - 12}, keywords = {Soft contacts}, issn = {0921-8890}, doi = {10.1016/j.robot.2012.10.008}, url = {http://www.sciencedirect.com/science/article/pii/S0921889012001911}, author = {Sami Moisio and Beatriz Le{\'o}n and Pasi Korkealaakso and Antonio Morales} } @article {194, title = {Naming Qualitative Models Based on Intervals: A General Framework}, journal = {International Journal of Artificial Intelligence}, volume = {A13}, year = {2013}, pages = {74{\textendash}92}, issn = {0974-0635}, author = {Ester Martinez-Martin and M.T. Escrig and Angel P. del Pobil} } @inbook {182, title = {Object Recognition in Cluttered Environments}, booktitle = {Signal Processing, Pattern Recognition and Applications}, year = {2013}, pages = {474-479}, publisher = {Acta Press}, organization = {Acta Press}, chapter = {Object Recognition in Cluttered Environments}, isbn = {978{\textendash}0{\textendash}88986{\textendash}944{\textendash}8}, author = {Ester Martinez-Martin and Angel P. del Pobil} } @conference {205, title = {Object Recognition in Cluttered Environments}, booktitle = {IASTED International Conference on Signal Processing, Pattern Recognition and Applications (SPPRA)}, year = {2013}, address = {Innsbruck, Austria}, doi = {10.2316/P.2013.798-026}, author = {Ester Martinez-Martin and Angel P. del Pobil} } @inbook {21, title = {On-Line Learning of the Visuomotor Transformations on a Humanoid Robot}, booktitle = {Intelligent Autonomous Systems 12}, series = {Advances in Intelligent Systems and Computing}, volume = {193}, year = {2013}, pages = {853-861}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, isbn = {978-3-642-33925-7}, doi = {10.1007/978-3-642-33926-4_82}, url = {http://dx.doi.org/10.1007/978-3-642-33926-4_82}, author = {Marco Antonelli and Eris Chinellato and Angel P. del Pobil}, editor = {Lee, Sukhan and Cho, Hyungsuck and Yoon, Kwang-Joon and Lee, Jangmyung} } @article {193, title = {A Qualitative Acceleration Model Based on Intervals}, journal = {ADCAIJ: Advances in Distributed Computing and Artificial Intelligence Journal}, volume = {1}, year = {2013}, pages = {17{\textendash}23}, issn = {2255-2863}, author = {Ester Martinez-Martin and M.T. Escrig and Angel P. del Pobil} } @inbook {180, title = {Qualitative Acceleration Model: Representation, Reasoning and Application}, booktitle = {Distributed Computing and Artificial Intelligence}, volume = {217}, year = {2013}, pages = {87-94}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, chapter = {Qualitative Acceleration Model: Representation, Reasoning and Application}, isbn = {978{\textendash}3{\textendash}319{\textendash}00550{\textendash}8}, author = {Ester Martinez-Martin and Angel P. del Pobil and M.T. Escrig} } @article {233, title = {Real-Time Model Based Visual Servoing Tasks on a Humanoid Robot}, journal = {Intelligent Autonomous Systems 12, Vol 1}, volume = {193}, year = {2013}, note = {Times Cited: 0 Lee, S Cho, HS Yoon, KJ Lee, JM 12th International Conference of Intelligent Autonomous Systems Jun 26-29, 2012 Jeju, SOUTH KOREA 978-3-642-33925-7}, pages = {321-333}, type = {Journal Article}, issn = {2194-5357}, url = {Reaching for a target requires estimating the spatial position of the target and to convert such a position in a suitable arm-motor command. In the proposed framework, the location of the target is represented implicitly by the gaze direction of the robot and by the distance of the target. The NAO robot is provided with two cameras, one to look ahead and one to look down, which constitute two independent head-centered coordinate systems. These head-centered frames of reference are converted into reaching commands by two neural networks. The weights of networks are learned by moving the arm while gazing the hand, using an on-line learning algorithm that maintains the covariance matrix of weights. This work adapts a previously proposed model that worked on a full humanoid robot torso, to work with the NAO and is a step toward a more generic framework for the implicit representation of the peripersonal space in humanoid robots.
}, keywords = {autonomous learning, cues integration, humanoid robot, radial basis functions, recursive least square}, url = {http://www.aaai.org/ocs/index.php/WS/AAAIW12/paper/view/5231}, author = {Marco Antonelli and Beata J. Grzyb and Vicente Castell{\'o} and Angel P. del Pobil} } @article {195, title = {Computer Vision Methods for Robot Tasks: Motion Detection, Depth Estimation and Tracking}, journal = {AI Communications}, volume = {25}, year = {2012}, pages = {373{\textendash}375}, issn = {0921-7126}, author = {Ester Martinez-Martin} } @conference {37, title = {Contact-based blind grasping of unknown objects}, booktitle = {12th IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, month = {Nov.}, isbn = {978-1-4673-1369-8}, author = {Javier Felip and Jose Bernabe and Antonio Morales} } @book {234, title = {Error Regulation Strategies for Model Based Visual Servoing Tasks Application to Autonomous Object Grasping with Nao Robot}, series = {2012 12th International Conference on Control, Automation, Robotics \& Vision}, year = {2012}, note = {Times Cited: 0 Icarcv 12th International Conference on Control, Automation, Robotics and Vision (ICARCV) Dec 05-07, 2012 Guangzhou, PEOPLES R CHINA}, pages = {1311-1316}, type = {Book}, isbn = {978-1-4673-1872-3}, url = {The aim of this paper is to improve the skills of robotic systems in their interaction with nearby objects. The basic idea is to enhance visual estimation of objects in the world through the merging of different visual estimators of the same stimuli. A neuroscience-inspired model of stereoptic and perspective orientation estimators, merged according to different criteria, is implemented on a robotic setup and tested in different conditions. Experimental results suggest that the integration of multiple monocular and binocular cues can make robot sensory systems more reliable and versatile. The same results, compared with simulations and data from human studies, show that the model is able to reproduce some well-recognized neuropsychological effects.
}, keywords = {binocular cue integration, Biological system modeling, Cameras, Computational modeling, Computer Simulation, Computer-Assisted, Cybernetics, Depth Perception, Estimation, Grasping, grippers, Humans, Image Processing, Intelligent robots, Models, monocular cue integration, Neurological, neuropsychological effects, neuroscience-inspired model, object estimation, perspective orientation estimator, pose estimation, Reliability, Reproducibility of Results, robot sensory systems, robot vision, robot vision systems, Robotics, Robots, stereo image processing, stereo vision, stereoptic orientation estimator, Task Performance and Analysis, visual estimation, visual perception, Visualization}, issn = {1083-4419}, doi = {10.1109/TSMCB.2011.2168952}, author = {Eris Chinellato and Beata J. Grzyb and Angel P. del Pobil} } @article {93, title = {Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach}, journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part B}, volume = {42(2)}, year = {2012}, pages = {530{\textendash}538}, author = {Eris Chinellato and Beata J. Grzyb and Angel P. del Pobil} } @conference {206, title = {Qualitative Velocity Model: Representation, Reasoning and Application}, booktitle = {Ninth International Workshop on Constraint Handling Rules (CHR)}, year = {2012}, address = {Budapest, Hungary}, author = {Ester Martinez-Martin and M.T. Escrig and Angel P. del Pobil} } @conference {94, title = {Reachable by walking: inappropriate integration of near and far space may lead to distance errors}, booktitle = {Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012).}, year = {2012}, author = {Beata J. Grzyb and Vicente Castell{\'o} and Angel P. del Pobil} } @conference {68, title = {Robotic Quality Measures Evaluating Human Grasp}, booktitle = {18th Congress of the European Society of Biomechanics (ESB 2012)}, year = {2012}, address = {Lisbon, Portugal}, keywords = {Measures Quality}, author = {Beatriz Le{\'o}n and J.L. Sancho-Bru and Rodriguez, Sergio and Antonio Morales and Antonio P{\'e}rez-Gonz{\'a}lez} } @book {179, title = {Robust Motion Detection in Real-Life Scenarios}, year = {2012}, publisher = {Springer}, organization = {Springer}, address = {London}, isbn = {978-1-4471-4215-7}, author = {Ester Martinez-Martin and Angel P. del Pobil} } @conference {36, title = {Simulation of robot dynamics for grasping and manipulation tasks}, booktitle = {12th IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, month = {Nov.}, isbn = {978-1-4673-1369-8}, author = {Beatriz Le{\'o}n and Javier Felip and Higinio Mart{\'\i} and Antonio Morales} } @conference {69, title = {Simulation of tactile sensors using soft contacts for robot grasping applications}, booktitle = {2012 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2012}, month = {may}, address = {Saint Paul, Minnesota}, doi = {10.1109/ICRA.2012.6224629}, author = {Sami Moisio and Beatriz Le{\'o}n and Pasi Korkealaakso and Antonio Morales} } @article {28, title = {Speeding up the log-polar transform with inexpensive parallel hardware: graphics units and multi-core architectures}, journal = {Journal of Real-Time Image Processing}, year = {2012}, pages = {1-18}, keywords = {CUDA, Graphics processors, Log-polar mapping, Multi-core CPUs, Real-time computer vision, Shaders}, issn = {1861-8200}, doi = {10.1007/s11554-012-0281-6}, url = {http://dx.doi.org/10.1007/s11554-012-0281-6}, author = {Marco Antonelli and Igual, FranciscoD. and Ramos, Francisco and V.J. Traver} } @conference {67, title = {Task-based Grasp Adaptation on a Humanoid Robot}, booktitle = {10th International IFAC Symposium on Robot Control (SYROCO 2012)}, year = {2012}, address = {Dubrovnik, Croatia}, author = {Jeannette Bohg and Kai Welke and Beatriz Le{\'o}n and Martin Do and Dan Song and Walter Wohlkinger and Marianna Madry and Aitor Aldoma and Markus Przybylski and Tamim Asfour and Higinio Mart{\'\i} and Danica Kragic and Antonio Morales and Markus Vincze} } @conference {228, title = {A test-bed Internet based architecture proposal for benchmarking of visual servoing techniques}, booktitle = {Innovative Mobile and Internet Services in Ubiquitous Computing (IMIS), 2012 Sixth International Conference on}, year = {2012}, publisher = {IEEE}, organization = {IEEE}, author = {Esteller-Curto, Roger and Angel P. del Pobil and Enric Cervera and Marin, Raul} } @conference {207, title = {Visual Surveillance for Human-Robot Interaction}, booktitle = {IEEE International Conference on Systems, Man and Cybernetics (SMC)}, year = {2012}, month = {October}, address = {Seoul, Korea}, isbn = {978-1-4673-1714-6}, author = {Ester Martinez-Martin and Angel P. del Pobil} } @conference {86, title = {Between frustration and elation: sense of control regulates the intrinsic motivation for motor learning}, booktitle = {AAAI Workshop on Lifelong learning}, year = {2011}, author = {Beata J. Grzyb and J. Boedecker and M. Asada and Angel P. del Pobil and Linda B. Smith} } @article {64, title = {The Dorso-medial visual stream: From neural activation to sensorimotor interaction}, journal = {Neurocomputing}, volume = {74}, year = {2011}, pages = {1203 - 1212}, abstract = {The posterior parietal cortex of primates, and more exactly areas of the dorso-medial visual stream, are able to encode the peripersonal space of a subject in a way suitable for gathering visual information and contextually performing purposeful gazing and arm reaching movements. Such sensorimotor knowledge of the environment is not explicit, but rather emerges through the interaction of the subject with nearby objects. In this work, single-cell data regarding the activation of primate dorso-medial stream neurons during gazing and reaching movements is studied, with the purpose of discovering meaningful pattern useful for modeling purposes. The outline of a model of the mechanisms which allow humans and other primates to build dynamical representations of their peripersonal space through active interaction with nearby objects is proposed, and a detailed description of how to employ the results of the data analysis in the model is offered. The application of the model to robotic systems will allow artificial agents to improve their skills in exploring the nearby space, and will at the same time constitute a way to validate modeling assumptions.
}, keywords = {Bio-inspired systems}, issn = {0925-2312}, doi = {10.1016/j.neucom.2010.07.029}, url = {http://www.sciencedirect.com/science/article/pii/S0925231210004212}, author = {Eris Chinellato and Beata J. Grzyb and Nicoletta Marzocchi and A. Bosco and Patrizia Fattori and Angel P. del Pobil} } @conference {88, title = {Elevated activation of dopaminergic brain areas facilitates behavioral state transition}, booktitle = {IROS 2011 Workshop on Cognitive Neuroscience Robotics}, year = {2011}, author = {Beata J. Grzyb and J. Boedecker and M. Asada and Angel P. del Pobil} } @conference {208, title = {A General Qualitative Spatio-Temporal Model Based on Intervals}, booktitle = {25th International Workshop on Qualitative Reasoning (QR)}, year = {2011}, address = {Barcelona, Spain}, author = {Ester Martinez-Martin and M.T. Escrig} } @conference {32, title = {Hierarchical object recognition inspired by primate brain mechanisms}, booktitle = {Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on}, year = {2011}, keywords = {brain, Estimation, Grasping, hierarchical object recognition, Image color analysis, multimodal integration, mutual projection, neurophysiology, neuroscience hypothesis, object recognition, object weight estimation, primate brain mechanism, real robot, robot vision, Robots, Shape, visual processing, Visualization, visuomotor behavior}, doi = {10.1109/CIVI.2011.5955017}, author = {Eris Chinellato and Javier Felip and Beata J. Grzyb and Antonio Morales and Angel P. del Pobil} } @conference {24, title = {Implicit mapping of the peripersonal space of a humanoid robot}, booktitle = {Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB), 2011 IEEE Symposium on}, year = {2011}, abstract = {In this work, taking inspiration from primate visuomotor mechanisms, a humanoid robot is able to build a sensorimotor map of the environment that is configured and trained through gazing and reaching movements. The map is accessed and modified by two types of information: retinotopic (visual) and proprioceptive (eye and arm movements), and constitutes both a knowledge of the environment and a sensorimotor code for performing movements and evaluate their outcome. By performing direct and inverse transformations between stereo vision, oculomotor and joint-space representations, the robot learns to perform gazing and reaching movements, which are in turn employed to update the sensorimotor knowledge of the environment. Thus, the robot keeps learning during its normal behavior, by interacting with the world and contextually updating its representation of the world itself. Such representation is never made explicit, but rather constitutes a visuomotor awareness of the space which emerges thanks to the interaction of the agent with the surrounding space.
}, keywords = {Head, humanoid robot, joint space representation, Joints, Neurons, oculomotor, peripersonal space, primate visuomotor mechanisms, proprioceptive information, retinotopic information, Robot kinematics, Robot sensing systems, robot vision, Robotics, sensorimotor code, sensorimotor knowledge, stereo image processing, stereo vision, Visualization, visuomotor awareness}, doi = {10.1109/CCMB.2011.5952119}, author = {Marco Antonelli and Eris Chinellato and Angel P. del Pobil} } @article {23, title = {Implicit Sensorimotor Mapping of the Peripersonal Space by Gazing and Reaching}, journal = {Autonomous Mental Development, IEEE Transactions on}, volume = {3}, year = {2011}, pages = {43-53}, abstract = {Primates often perform coordinated eye and arm movements, contextually fixating and reaching towards nearby objects. This combination of looking and reaching to the same target is used by infants to establish an implicit visuomotor representation of the peripersonal space, useful for both oculomotor and arm motor control. In this work, taking inspiration from such behavior and from primate visuomotor mechanisms, a shared sensorimotor map of the environment, built on a radial basis function framework, is configured and trained by the coordinated control of eye and arm movements. Computational results confirm that the approach seems especially suitable for the problem at hand, and for its implementation on a real humanoid robot. By exploratory gazing and reaching actions, either free or goal-based, the artificial agent learns to perform direct and inverse transformations between stereo vision, oculomotor, and joint-space representations. The integrated sensorimotor map that allows to contextually represent the peripersonal space through different vision and motor parameters is never made explicit, but rather emerges thanks to the interaction of the agent with the environment.
}, keywords = {arm motor control, arm movement control, artificial agent, control engineering computing, eye movement control, Eye{\textendash}arm coordination, gazing action, humanoid robot, implicit sensorimotor mapping, implicit visuomotor representation, joint-space representation, motion control, oculomotor control, peripersonal space, radial basis function framework, radial basis function networks, reaching actions, Robotics, self-supervised learning, shared sensorimotor map, spatial awareness, stereo vision}, issn = {1943-0604}, doi = {10.1109/TAMD.2011.2106781}, author = {Eris Chinellato and Marco Antonelli and Beata J. Grzyb and Angel P. del Pobil} } @conference {209, title = {An Integrated Virtual Environment for Visual-based Reaching}, booktitle = {The Fifth ACM International Conference on Ubiquitous Information Management and Communication (ICUIMC)}, year = {2011}, month = {February}, address = {Seoul, Korea}, isbn = {978-1-4503-0571-6}, author = {Ester Martinez-Martin and Angel P. del Pobil and M. Chessa and F. Solari and S.P. Sabatini} } @conference {34, title = {Mind the gap - robotic grasping under incomplete observation}, booktitle = {Robotics and Automation (ICRA), 2011 IEEE International Conference on}, year = {2011}, keywords = {Approximation methods, collision-free movements, gap robotic grasping, Grasping, Image reconstruction, incomplete observation, manipulator kinematics, mesh generation, mesh reconstruction, object shape prediction, Planning, Robots, Shape, Surface reconstruction}, doi = {10.1109/ICRA.2011.5980354}, author = {J. Bohg and M. Johnson-Roberson and Beatriz Le{\'o}n and Javier Felip and Gratal, X. and N Bergstrom and Danica Kragic and Antonio Morales} } @conference {70, title = {Mind the gap - robotic grasping under incomplete observation}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2011}, address = {Shanghai, China}, keywords = {collision-free movements, gap robotic grasping, incomplete observation, manipulator kinematics, mesh generation, mesh reconstruction, object shape prediction, Robots}, doi = {10.1109/ICRA.2011.5980354}, url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5980354}, author = {Bohg, Jeannette and M. Johnson-Roberson and Beatriz Le{\'o}n and Javier Felip and Gratal, X and N Bergstrom and Danica Kragic and Antonio Morales} } @conference {71, title = {Modelo biomec{\'a}nico de la mano orientado al agarre de objetos}, booktitle = {Actas I Reuni{\'o}n del Cap\'{\i}tulo Nacional de la Sociedad Europea de Biomec{\'a}nica}, year = {2011}, address = {Zaragoza, Spain}, author = {Beatriz Le{\'o}n and J.L. Sancho-Bru and Antonio Morales and Antonio P{\'e}rez-Gonz{\'a}lez} } @conference {72, title = {Modelo de la mano para la evaluacion de agarres}, booktitle = {Actas del X Congreso Iberoamericano de Ingenier\'{\i}a Mec{\'a}nica, CIBIM10}, year = {2011}, address = {Oporto, Portugal}, author = {J.L. Sancho-Bru and Marta C. Mora and Beatriz Le{\'o}n and Antonio P{\'e}rez-Gonz{\'a}lez and Jos{\'e} L. Iserte} } @article {76, title = {Towards a Realistic and Self-Contained Biomechanical Model of the Hand}, journal = {Theoretical biomechanics}, year = {2011}, pages = {212{\textendash}240}, isbn = {978-953-307-851-9}, url = {http://www.intechopen.com/articles/show/title/towards-a-realistic-and-self-contained-biomechanical-model-of-the-hand}, author = {J.L. Sancho-Bru and Antonio P{\'e}rez-Gonz{\'a}lez and Marta C. Mora and Beatriz Le{\'o}n and Vergara, Margarita and Jos{\'e} L. Iserte and Rodr{\'\i}guez-Cervantes, Pablo J. and Antonio Morales} } @conference {87, title = {Trying anyways: how ignoring the errors may help in learning new skills}, booktitle = {IEEE International Conference on Development and Learning and Epigenetic Robotics}, year = {2011}, author = {Beata J. Grzyb and J. Boedecker and M. Asada and Angel P. del Pobil and Linda B. Smith} } @inbook {238, title = {Creation of geometric formations of multiple robots with limited sensory power based on visual information}, booktitle = {2010 Ieee/Asme International Conference on Advanced Intelligent Mechatronics}, series = {IEEE ASME International Conference on Advanced Intelligent Mechatronics}, year = {2010}, note = {Times Cited: 0 Aim IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Jul 06-09, 2010 Montreal, CANADA Ieee; asme}, type = {Book Section}, isbn = {2159-6255 978-1-4244-8030-2}, url = {Learning techniques in robotic grasping applications have usually been concerned with the way a hand approaches to an object, or with improving the motor control of manipulation actions. We present an active learning approach devised to face the problem of visually-guided grasp selection. We want to choose the best hand configuration for grasping a particular object using only visual information. Experimental data from real grasping actions is used, and the experience gathering process is driven by an on-line estimation of the reliability assessment capabilities of the system. The goal is to improve the selection skills of the grasping system, minimizing at the same time the cost and duration of the learning process.
}, keywords = {active learning approach, Costs, Grasping, Haptic interfaces, Intelligent robots, Laboratories, learning (artificial intelligence), manipulators, motor control, Motor drives, online estimation, Reliability, reliability assessment capabilities, robot grasp reliability, Robot sensing systems, Torso, Training data, Uncertainty, visually-guided grasp selection}, doi = {10.1109/IROS.2004.1389399}, author = {Antonio Morales and Eris Chinellato and Fagg, A.H. and Angel P. del Pobil} } @inbook {276, title = {Agent-based software integration for a mobile manipulator}, booktitle = {2004 Ieee International Conference on Systems, Man \& Cybernetics, Vols 1-7}, series = {Ieee International Conference on Systems, Man, and Cybernetics, Conference Proceedings}, year = {2004}, note = {Times Cited: 0 IEEE International Conference on Systems, Man and Cybernetics Oct 10-13, 2004 The Hague, NETHERLANDS Ieee}, pages = {6167-6172}, type = {Book Section}, isbn = {1062-922X 0-7803-8566-7}, url = {This paper deals with visually guided grasping of unmodeled objects for robots which exhibit an adaptive behavior based on their previous experiences. Nine features are proposed to characterize three-finger grasps. They are computed from the object image and the kinematics of the hand. Real experiments on a humanoid robot with a Barrett hand are carried out to provide experimental data. This data is employed by a classification strategy, based on the k-nearest neighbour estimation rule, to predict the reliability of a grasp configuration in terms of five different performance classes. Prediction results suggest the methodology is adequate.
}, keywords = {adaptive behavior, Barrett hand, dexterous manipulators, estimation rule, feature extraction, Geometry, grasp configuration, Grasping, hand kinematics, humanoid robot, Humans, Image reconstruction, Intelligent robots, Kinematics, Laboratories, manipulator kinematics, object image, performance prediction, prediction theory, Reliability, Robot sensing systems, robot vision, Robustness, Service robots, three finger grasps, unmodeled objects, visual features, visually guided grasping}, doi = {10.1109/IROS.2003.1249685}, author = {Antonio Morales and Eris Chinellato and Fagg, A.H. and Angel P. del Pobil} } @article {250, title = {Improving image-based visual servoing with three-dimensional features}, journal = {International Journal of Robotics Research}, volume = {22}, number = {10-11}, year = {2003}, note = {Times Cited: 15 16}, pages = {821-839}, type = {Journal Article}, issn = {0278-3649}, doi = {10.1177/027836490302210003}, url = {