@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} } @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} } @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} } @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} } @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} } @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 {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} } @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 {74, title = {Evaluation of Human Prehension Using Grasp Quality Measures}, journal = {International Journal of Advanced Robotic Systems}, year = {2012}, author = {Beatriz Le{\'o}n and J.L. Sancho-Bru and Jarque-Bou, N{\'e}stor J. and Antonio Morales and Roa, M{\'a}ximo A.} } @article {75, title = {Grasp modelling with a biomechanical model of the hand}, journal = {Computer Methods in Biomechanics and Biomedical Engineering}, year = {2012}, pages = {1-14}, doi = {10.1080/10255842.2012.682156}, url = {http://www.tandfonline.com/doi/abs/10.1080/10255842.2012.682156}, 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 and Antonio Morales} } @conference {66, title = {Indicadores de la calidad del agarre humano: rangos de variabilidad y an{\'a}lisis de sensibilidad}, booktitle = {XIX Congreso Nacional de Ingenier\'{\i}a Mec{\'a}nica (CNIM 2012)}, year = {2012}, address = {Castellon, Spain}, author = {Beatriz Le{\'o}n and J.L. Sancho-Bru and Antonio Morales and Antonio P{\'e}rez-Gonz{\'a}lez} } @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 {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} } @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} } @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 {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 {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 {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 {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} } @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 {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} } @inbook {73, title = {OpenGRASP: A Toolkit for Robot Grasping Simulation}, booktitle = {Simulation, Modeling, and Programming for Autonomous Robots}, series = {Lecture Notes in Computer Science}, volume = {6472}, year = {2010}, pages = {109-120}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, author = {Beatriz Le{\'o}n and Ulbrich, Stefan and Diankov, Rosen and Puche, Gustavo and Markus Przybylski and Antonio Morales and Tamim Asfour and Sami Moisio and Bohg, Jeannette and Kuffner, James and Dillmann, R{\"u}diger} } @article {89, title = {A 3D Grasping System Based on Multimodal Visual and Tactile Processing}, journal = {Industrial Robot Journal}, volume = {36}, year = {2009}, pages = {365-369}, doi = {10.1108/01439910910957138}, author = {Beata J. Grzyb and Eris Chinellato and Antonio Morales and Angel P. del Pobil} } @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 {85, title = {Robust grasping of 3{D} objects with stereo vision and tactile feedback}, booktitle = {Intl. Conf. on Climbing and Walking Robots, CLAWAR}, year = {2008}, address = {Coimbra, Portugal}, author = {Beata J. Grzyb and Eris Chinellato and Antonio Morales and Angel P. del Pobil} } @conference {172, title = {A framework for using tactile data in autonomous reactive manipulation}, booktitle = {13th IASTED International Conference Robotics and Applications (RA 2007)}, year = {2007}, month = {08/2007}, publisher = {IASTED}, organization = {IASTED}, address = {W{\"u}rzburg (Germany)}, abstract = {

}, isbn = {978-0-88986-685-0}, author = {Antonio Morales and M. Prats and Gabriel Recatala} } @article {268, title = {Symbol grounding through robotic manipulation in cognitive systems}, journal = {Robotics and Autonomous Systems}, volume = {55}, number = {12}, year = {2007}, note = {Times Cited: 3 Morales, Antonio/C-4793-2012 Multidisciplinary Conference on Perception and Intelligence (CMPI-2006) Jul 10-14, 2006 Albacete, SPAIN 3}, pages = {851-859}, type = {Journal Article}, issn = {0921-8890}, doi = {10.1016/j.robot.2007.07.011}, url = {://WOS:000251462000003}, author = {Eris Chinellato and Antonio Morales and Enric Cervera and Angel P. del Pobil} } @conference {171, title = {Sistema completo de manipulaci{\'o}n aut{\'o}noma basado en fusi{\'o}n de informaci{\'o}n sensorial y t{\'e}cnicas de aprendizaje orientado a la rob{\'o}tica de servicios}, booktitle = {2es Jornades de Recerca en Autom{\`a}tica, Visi{\'o} i Rob{\`o}tica}, year = {2006}, month = {07/2006}, abstract = {

}, isbn = {84-7653-885-5}, author = {P.J. Sanz and Angel P. del Pobil and Antonio Morales and Gabriel Recatala and Eris Chinellato and M. Prats and Ester Martinez-Martin} } @conference {78, title = {An active learning approach for assessing robot grasp reliability}, booktitle = {Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on}, year = {2004}, abstract = {

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} } @conference {77, title = {Experimental prediction of the performance of grasp tasks from visual features}, booktitle = {Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on}, year = {2003}, abstract = {

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} } @conference {143, title = {Heuristic Vision-Based Computation of Planar Antipodal Grasps on Unknown Objects}, booktitle = {Proc. IEEE Intl. Conf. on Robotics and Automation}, year = {2001}, month = {05/2001}, address = {Seoul, Korea}, isbn = {0-7803-6578-X}, doi = {10.1109/ROBOT.2001.932613}, author = {Antonio Morales and Gabriel Recatala and P.J. Sanz and Angel P. del Pobil} } @conference {140, title = {Razonamiento Geom{\'e}trico para la Determinaci{\'o}n 2D de Puntos de Agarre}, booktitle = {VIII Encuentros de Geometr{\'\i}a Computacional}, year = {1999}, month = {07/1999}, address = {Castell{\'o}n (Spain)}, abstract = {


}, isbn = {87-88306-42-9}, author = {P.J. Sanz and V.J. Traver and Antonio Morales and Gabriel Recatala} } @conference {138, title = {Computing Contact Stability Grasps of Unknown Objects by Means of Vision}, booktitle = {Progreso em Intelig{\^e}ncia Artificial. Actas do 6$^{o}$ Congresso Iberoamericano de Intelig{\^e}ncia Artificial}, year = {1998}, month = {10/1998}, publisher = {Edi{\c c}{\~o}es Colibri}, organization = {Edi{\c c}{\~o}es Colibri}, address = {Lisboa, Portugal}, abstract = {

}, isbn = {972-772-033-1}, author = {Antonio Morales and P.J. Sanz and Gabriel Recatala and Angel P. del Pobil and J.M. I{\~n}esta}, editor = {Helder Coelho} }