@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 {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} } @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} } @article {38, title = {Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks}, journal = {Robotics and Autonomous Systems}, year = {2012}, issn = {0921{\textendash}8890}, doi = {10.1016/j.robot.2012.11.010}, author = {Javier Felip and Laaksonen, J. and Antonio Morales and V. Kyrki} } @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 {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 {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 {33, title = {Embodiment independent manipulation through action abstraction}, booktitle = {Robotics and Automation (ICRA), 2010 IEEE International Conference on}, year = {2010}, keywords = {abstraction architecture, Automata, embodiment independent manipulation, failure detection, Hardware, Humans, imperfect environment knowledge, Intelligent robots, knowledge based systems, knowledge transfer, manipulator kinematics, manipulator platforms, robot programming, Robot sensing systems, Robotics and automation, Robots, Sensor phenomena and characterization, sensor-based control, sensors, service tasks, task analysis, Uncertainty, USA Councils}, doi = {10.1109/ROBOT.2010.5509153}, author = {Laaksonen, J. and Javier Felip and Antonio Morales and V. Kyrki} } @conference {35, title = {Robust sensor-based grasp primitive for a three-finger robot hand}, booktitle = {Intelligent Robots and Systems. IROS 2009. IEEE/RSJ International Conference on}, year = {2009}, keywords = {contact-based sensor, control law, Feedback, Force sensors, grippers, Intelligent robots, Intelligent sensors, Mobile robots, naive grasp controller, robot grasping, Robot sensing systems, Robust control, robust sensor-based grasp primitive, Robustness, sensors, Shape, three-finger robot hand, Uncertainty}, doi = {10.1109/IROS.2009.5354760}, author = {Javier Felip and Antonio Morales} } @conference {58, title = {The 2007 Spanish Humanoids Competition: From the Winners Point of View}, booktitle = {8th Conference on Autonomous Robot Systems and Competitions}, year = {2008}, month = {04/2008}, address = {Aveiro (Portugal)}, keywords = {humanoid robot, learning, robot competitions}, isbn = {978-972-96895-3-6}, author = {Garc{\'\i}a, Juan Carlos and Javier Felip and P.J. Sanz} }