TY - CONF T1 - A Model of Artificial Genotype and Norm of Reaction in a Robotic System T2 - International Conference on Simulation of Adaptive Behavior Y1 - 2016 A1 - Angel J Duran A1 - Angel P. del Pobil JF - International Conference on Simulation of Adaptive Behavior PB - Springer International Publishing ER - TY - CONF T1 - Adaptive Saccade Controller Inspired by the Primates’ Cerebellum T2 - IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2015 A1 - Antonelli, Marco A1 - Angel J Duran A1 - Eris Chinellato A1 - Angel P. del Pobil KW - Biologically-Inspired Robots KW - Control Architectures and Programming KW - Learning and Adaptive Systems AB -
Saccades are fast eye movements that allow humans and robots to bring the visual target in the center of the visual field. Saccades are open loop with respect to the vision system, thus their execution require a precise knowledge of the internal model of the oculomotor system. In this work, we modeled the saccade control, taking inspiration from the recurrent loops between the cerebellum and the brainstem. In this model, the brainstem acts as a fixed-inverse model of the oculomotor system, while the cerebellum acts as an adaptive element that learns the internal model of the oculomotor system. The adaptive filter is implemented using a state-of-the- art neural network, called I-SSGPR. The proposed approach, namely recurrent architecture, was validated through experiments performed both in simulation and on an antropomorphic robotic head. Moreover, we compared the recurrent architecture with another model of the cerebellum, the feedback error learning. Achieved results show that the recurrent architecture outperforms the feedback error learning in terms of accuracy and insensitivity to the choice of the feedback controller.
 
11:20-11:24, Paper FrA2T5.6 
JF - IEEE International Conference on Robotics and Automation (ICRA) CY - Seattle, Washington, USA ER - TY - JOUR T1 - Antecedents of Behavioral Intention to Use Mobile Telecommunication Services: Effects of Corporate Social Responsibility and Technology Acceptance JF - Sustainability Y1 - 2015 A1 - Lee, Sanghoon A1 - Park, Eunil A1 - Kwon, Sang Jib A1 - Angel P. del Pobil AB -

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’ 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.

VL - 7 UR - http://www.mdpi.com/2071-1050/7/8/11345 ER - TY - CONF T1 - Body Language for Mood Induction Procedures T2 - Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts Y1 - 2015 A1 - Diaz, Cristina A1 - Angel P. del Pobil A1 - Garcia, Azucena A1 - Castilla, Diana A1 - Miralles, Ignacio KW - human-robot interaction KW - mood induction procedure JF - Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts PB - ACM CY - New York, NY, USA SN - 978-1-4503-3318-4 UR - http://doi.acm.org/10.1145/2701973.2702024 ER - TY - JOUR T1 - Determinants of Behavioral Intention to Use South Korean Airline Services: Effects of Service Quality and Corporate Social Responsibility JF - Sustainability Y1 - 2015 A1 - Park, Eunil A1 - Lee, Sanghoon A1 - Kwon, Sang Jib A1 - Angel P. del Pobil AB -

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.

VL - 7 UR - http://www.mdpi.com/2071-1050/7/9/12106 ER - TY - CONF T1 - How important is body language in mood induction procedures with a humanoid robot? T2 - Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on Y1 - 2015 A1 - C. Díaz-Montilla A1 - Angel P. del Pobil KW - emotion induction KW - Emotion recognition KW - humanoid robot KW - Humanoid robots KW - learning (artificial intelligence) KW - Libraries KW - MIP KW - Mood KW - mood induction procedure KW - positive attitude KW - positive body language KW - positive induction effect KW - positive psychology principle KW - PP KW - psychology KW - social learning KW - Speech KW - therapeutic robotics KW - Velten method KW - Velten positive statements JF - Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on ER - TY - CONF T1 - Online teaching of humanoid robots T2 - Human Robot Interaction Education Workshop Y1 - 2015 A1 - Gustavo A. Casañ A1 - Enric Cervera A1 - Angel P. del Pobil KW - Humanoid robots KW - online KW - Programming KW - teaching AB -

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.

JF - Human Robot Interaction Education Workshop CY - Portland, Oregon UR - http://www.rose-hulman.edu/academics/multidisciplinary-opportunities/robotics/hri-education-workshop.aspx ER - TY - JOUR T1 - The Robot Programming Network JF - Journal of Inteligent and Robotic Sytems Y1 - 2015 A1 - Enric Cervera A1 - Philippe Martinet A1 - Marin, Raul A1 - Abou Moughlbay, Amine A1 - Angel P. del Pobil A1 - Jaime Alemany A1 - Esteller-Curto, Roger A1 - Gustavo A. Casañ KW - Online learning KW - Remote laboratories KW - robot programming AB -

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.

VL - 81 IS - 1 ER - TY - CONF T1 - Tombatossals: A humanoid torso for autonomous sensor-based tasks T2 - Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on Y1 - 2015 A1 - Felip, Javier A1 - Angel J Duran A1 - Antonelli, Marco A1 - Morales, Antonio A1 - Angel P. del Pobil JF - Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on PB - IEEE ER - TY - JOUR T1 - Usability of the Stylus Pen in Mobile Electronic Documentation JF - Electronics Y1 - 2015 A1 - Park, Eunil A1 - Angel P. del Pobil A1 - Kwon, Sang Jib AB -

Stylus pens are often used with mobile information devices. However, few studies have examined the stylus’ 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.

VL - 4 UR - http://www.mdpi.com/2079-9292/4/4/922 ER - TY - JOUR T1 - An Active System for Visually-Guided Reaching in 3D Across Binocular Fixations JF - The Scientific World Journal Y1 - 2014 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil A1 - M. Chessa A1 - F. Solari A1 - S.P. Sabatini AB -

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’s performance is evaluated through experiments on both simulated and real data.

VL - 2014 ER - TY - CHAP T1 - Animal Social Behaviour: A Visual Analysis T2 - From Animals to Animats 13 Y1 - 2014 A1 - Martinez-Martin, Ester A1 - Angel P. del Pobil ED - Angel P. del Pobil ED - Eris Chinellato ED - Martinez-Martin, Ester ED - Hallam, John ED - Enric Cervera ED - Antonio Morales JF - From Animals to Animats 13 T3 - Lecture Notes in Computer Science PB - Springer International Publishing VL - 8575 SN - 978-3-319-08863-1 UR - http://dx.doi.org/10.1007/978-3-319-08864-8_31 ER - TY - CONF T1 - Bayesian Multimodal Integration in a Robot Replicating Human Head and Eye Movements T2 - IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2014 A1 - Marco Antonelli A1 - Angel P. del Pobil A1 - Rucci, Michele KW - eye-movements KW - head-saccades KW - model KW - multisensory-integration KW - neurorobotics KW - Robotics JF - IEEE International Conference on Robotics and Automation (ICRA) ER - TY - JOUR T1 - Fostering Progress in Performance Evaluation and Benchmarking of Robotic and Automation Systems [TC Spotlight] JF - IEEE Robotics Automation Magazine Y1 - 2014 A1 - F. Bonsignorio A1 - Angel P. del Pobil A1 - E. Messina KW - Automation KW - automation systems KW - benchmark testing KW - benchmarking KW - daily life activities KW - engineering systems KW - fostering progress KW - performance evaluation KW - robot adaptive behavior KW - robot antifragile behavior KW - robot intelligent behavior KW - Robot kinematics KW - robot robust behavior KW - Robot sensing systems KW - robot tasks KW - robotic systems KW - Robots VL - 21 ER - TY - JOUR T1 - A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot JF - IEEE Trans. Auton. Mental Develop Y1 - 2014 A1 - Marco Antonelli A1 - Gibaldi, Agostino A1 - Beuth, Frederik A1 - Angel J Duran A1 - Canessa, Andrea A1 - Chessa, Manuela A1 - Solari, F A1 - Angel P. del Pobil A1 - Hamker, F A1 - Eris Chinellato A1 - Sabatini, SP ER - TY - JOUR T1 - Learning the visual-oculomotor transformation: Effects on saccade control and space representation JF - Robotics and Autonomous Systems Y1 - 2014 A1 - Marco Antonelli A1 - Angel J Duran A1 - Eris Chinellato A1 - Angel P. del Pobil KW - Cerebellum KW - Gaussian process regression KW - Humanoid robotics KW - Sensorimotor transformation KW - stereo vision AB -

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.

UR - http://www.sciencedirect.com/science/article/pii/S092188901400311X ER - TY - JOUR T1 - Optimized Renewable and Sustainable Electricity Generation Systems for Ulleungdo Island in South Korea JF - Sustainability Y1 - 2014 A1 - Yoo, Kyeongsik A1 - Park, Eunil A1 - Kim, Heetae A1 - Ohm, Jay Y. A1 - Yang, Taeyong A1 - Kim, Ki Joon A1 - Chang, Hyun Joon A1 - Angel P. del Pobil AB -

The South Korean government has long been attempting to reduce the nation’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’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’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.

VL - 6 UR - http://www.mdpi.com/2071-1050/6/11/7883 ER - TY - Generic T1 - Application of the Visuo-Oculomotor Transformation to Ballistic and Visually-Guided Eye Movements T2 - International Joint Conference in Neural Networks Y1 - 2013 A1 - Marco Antonelli A1 - Angel J Duran A1 - Angel P. del Pobil JF - International Joint Conference in Neural Networks ER - TY - Generic T1 - Contact Localization through Robot and Object Motion from Point Clouds T2 - 13th IEEE-RAS, International Conference on Humanoid Robots, HUMANOIDS Y1 - 2013 A1 - Jose Bernabe A1 - Javier Felip A1 - Angel P. del Pobil A1 - Antonio Morales KW - Physical interaction KW - Tactile perception KW - visual perception AB -

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.

JF - 13th IEEE-RAS, International Conference on Humanoid Robots, HUMANOIDS PB - IEEE CY - Atlanta, GA, USA ER - TY - CHAP T1 - Depth Estimation during Fixational Head Movements in a Humanoid Robot T2 - Computer Vision Systems Y1 - 2013 A1 - Marco Antonelli A1 - Angel P. del Pobil A1 - Rucci, Michele ED - Chen, Mei ED - Leibe, Bastian ED - Neumann, Bernd AB -

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.

JF - Computer Vision Systems T3 - Lecture Notes in Computer Science PB - Springer Berlin Heidelberg VL - 7963 SN - 978-3-642-39401-0 UR - http://dx.doi.org/10.1007/978-3-642-39402-7_27 ER - TY - CHAP T1 - Find It – An Assistant Home Agent T2 - Trends in Practical Applications of Agent and Multi-Agent Y1 - 2013 A1 - A. Costa A1 - Ester Martinez-Martin A1 - Angel P. del Pobil A1 - R. Simoes A1 - P. Novais JF - Trends in Practical Applications of Agent and Multi-Agent PB - Springer International Publishing VL - 221 SN - 978–3–319–00562–1 ER - TY - CHAP T1 - Integration of Visuomotor Learning, Cognitive Grasping and Sensor-Based Physical Interaction in the UJI Humanoid Torso T2 - Designing Intelligent Robots: Reintegrating AI Y1 - 2013 A1 - Angel P. del Pobil A1 - Angel J Duran A1 - Marco Antonelli A1 - Javier Felip A1 - Antonio Morales A1 - M. Prats A1 - Eris Chinellato JF - Designing Intelligent Robots: Reintegrating AI PB - AAAI VL - SS-13-04 SN - 978-1-57735-601-1 ER - TY - JOUR T1 - Naming Qualitative Models Based on Intervals: A General Framework JF - International Journal of Artificial Intelligence Y1 - 2013 A1 - Ester Martinez-Martin A1 - M.T. Escrig A1 - Angel P. del Pobil VL - A13 IS - 11 ER - TY - CHAP T1 - Object Recognition in Cluttered Environments T2 - Signal Processing, Pattern Recognition and Applications Y1 - 2013 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - Signal Processing, Pattern Recognition and Applications PB - Acta Press SN - 978–0–88986–944–8 ER - TY - CONF T1 - Object Recognition in Cluttered Environments T2 - IASTED International Conference on Signal Processing, Pattern Recognition and Applications (SPPRA) Y1 - 2013 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - IASTED International Conference on Signal Processing, Pattern Recognition and Applications (SPPRA) CY - Innsbruck, Austria ER - TY - CHAP T1 - On-Line Learning of the Visuomotor Transformations on a Humanoid Robot T2 - Intelligent Autonomous Systems 12 Y1 - 2013 A1 - Marco Antonelli A1 - Eris Chinellato A1 - Angel P. del Pobil ED - Lee, Sukhan ED - Cho, Hyungsuck ED - Yoon, Kwang-Joon ED - Lee, Jangmyung JF - Intelligent Autonomous Systems 12 T3 - Advances in Intelligent Systems and Computing PB - Springer Berlin Heidelberg VL - 193 SN - 978-3-642-33925-7 UR - http://dx.doi.org/10.1007/978-3-642-33926-4_82 ER - TY - JOUR T1 - A Qualitative Acceleration Model Based on Intervals JF - ADCAIJ: Advances in Distributed Computing and Artificial Intelligence Journal Y1 - 2013 A1 - Ester Martinez-Martin A1 - M.T. Escrig A1 - Angel P. del Pobil VL - 1 IS - 5 ER - TY - CHAP T1 - Qualitative Acceleration Model: Representation, Reasoning and Application T2 - Distributed Computing and Artificial Intelligence Y1 - 2013 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil A1 - M.T. Escrig JF - Distributed Computing and Artificial Intelligence PB - Springer International Publishing VL - 217 SN - 978–3–319–00550–8 ER - TY - CHAP T1 - Robust Object Recognition in Unstructured Environments T2 - Advances in Intelligent Systems and Computing Y1 - 2013 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - Advances in Intelligent Systems and Computing PB - Springer International Publishing VL - 193 SN - 978–3–642–33925–7 ER - TY - CHAP T1 - Speeding-Up the Learning of Saccade Control T2 - Biomimetic and Biohybrid Systems Y1 - 2013 A1 - Marco Antonelli A1 - Angel J Duran A1 - Eris Chinellato A1 - Angel P. del Pobil ED - Lepora, NathanF. ED - Mura, Anna ED - Krapp, Holger G. ED - Paul F. M. J. Verschure ED - Tony J. Prescott JF - Biomimetic and Biohybrid Systems T3 - Lecture Notes in Computer Science PB - Springer Berlin Heidelberg VL - 8064 SN - 978-3-642-39801-8 UR - http://dx.doi.org/10.1007/978-3-642-39802-5_2 ER - TY - CONF T1 - Visual Object Recognition for Robot Tasks in Real-Life Scenarios T2 - International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Y1 - 2013 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) CY - Jeju, Korea SN - 978-1-4799-1197-4 ER - TY - CONF T1 - Visual People Detection for Safe Human-Robot Interaction T2 - IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Y1 - 2013 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) CY - Gyeongju, Korea SN - 978-1-4799-0509-6 ER - TY - CONF T1 - Augmenting the Reachable Space in the NAO Humanoid Robot T2 - AAAI Workshops Y1 - 2012 A1 - Marco Antonelli A1 - Beata J. Grzyb A1 - Vicente Castelló A1 - Angel P. del Pobil KW - autonomous learning KW - cues integration KW - humanoid robot KW - radial basis functions KW - recursive least square AB -

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.

JF - AAAI Workshops UR - http://www.aaai.org/ocs/index.php/WS/AAAIW12/paper/view/5231 ER - TY - CHAP T1 - A General Framework for Naming Qualitative Models Based on Intervals T2 - Distributed Computing and Artificial Intelligence Y1 - 2012 A1 - Ester Martinez-Martin A1 - M.T. Escrig A1 - Angel P. del Pobil JF - Distributed Computing and Artificial Intelligence PB - Springer–Verlag Berlin Heidelberg SN - 978–3–642–28764–0 ER - TY - JOUR T1 - A General Qualitative Spatio-Temporal Model Based on Intervals JF - Journal of Universal Computer Science Y1 - 2012 A1 - Ester Martinez-Martin A1 - M.T. Escrig A1 - Angel P. del Pobil VL - 18 ER - TY - CHAP T1 - How Walking Influences the Development of Absolute Distance Perception T2 - From Animals to Animats 12 Y1 - 2012 A1 - Beata J. Grzyb A1 - Angel P. del Pobil A1 - Linda B. Smith ED - Ziemke, Tom ED - Balkenius, Christian ED - Hallam, John JF - From Animals to Animats 12 T3 - Lecture Notes in Computer Science PB - Springer Berlin / Heidelberg VL - 7426 SN - 978-3-642-33092-6 ER - TY - CHAP T1 - Integration of Static and Self-motion-Based Depth Cues for Efficient Reaching and Locomotor Actions T2 - Artificial Neural Networks and Machine Learning – ICANN 2012 Y1 - 2012 A1 - Beata J. Grzyb A1 - Vicente Castelló A1 - Marco Antonelli A1 - Angel P. del Pobil ED - Villa, AlessandroE.P. ED - Duch, Włodzisław ED - Érdi, Péter ED - Masulli, Francesco ED - Palm, Günther KW - depth cue integration KW - distance perception KW - embodied perception KW - reward-mediated learning JF - Artificial Neural Networks and Machine Learning – ICANN 2012 T3 - Lecture Notes in Computer Science PB - Springer Berlin Heidelberg VL - 7552 SN - 978-3-642-33268-5 UR - http://dx.doi.org/10.1007/978-3-642-33269-2_41 ER - TY - CHAP T1 - A Pilot Study on Saccadic Adaptation Experiments with Robots T2 - Biomimetic and Biohybrid Systems Y1 - 2012 A1 - Eris Chinellato A1 - Marco Antonelli A1 - Angel P. del Pobil ED - Tony J. Prescott ED - Lepora, NathanF. ED - Mura, Anna ED - Paul F. M. J. Verschure JF - Biomimetic and Biohybrid Systems T3 - Lecture Notes in Computer Science PB - Springer Berlin Heidelberg VL - 7375 SN - 978-3-642-31524-4 UR - http://dx.doi.org/10.1007/978-3-642-31525-1_8 ER - TY - CHAP T1 - Plastic Representation of the Reachable Space for a Humanoid Robot T2 - From Animals to Animats 12 Y1 - 2012 A1 - Marco Antonelli A1 - Beata J. Grzyb A1 - Vicente Castelló A1 - Angel P. del Pobil ED - Ziemke, Tom ED - Balkenius, Christian ED - Hallam, John JF - From Animals to Animats 12 T3 - Lecture Notes in Computer Science PB - Springer Berlin Heidelberg VL - 7426 SN - 978-3-642-33092-6 UR - http://dx.doi.org/10.1007/978-3-642-33093-3_17 ER - TY - JOUR T1 - Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach JF - Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on Y1 - 2012 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Angel P. del Pobil KW - binocular cue integration KW - Biological system modeling KW - Cameras KW - Computational modeling KW - Computer Simulation KW - Computer-Assisted KW - Cybernetics KW - Depth Perception KW - Estimation KW - Grasping KW - grippers KW - Humans KW - Image Processing KW - Intelligent robots KW - Models KW - monocular cue integration KW - Neurological KW - neuropsychological effects KW - neuroscience-inspired model KW - object estimation KW - perspective orientation estimator KW - pose estimation KW - Reliability KW - Reproducibility of Results KW - robot sensory systems KW - robot vision KW - robot vision systems KW - Robotics KW - Robots KW - stereo image processing KW - stereo vision KW - stereoptic orientation estimator KW - Task Performance and Analysis KW - visual estimation KW - visual perception KW - Visualization AB -

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.

VL - 42 ER - TY - JOUR T1 - Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B Y1 - 2012 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Angel P. del Pobil VL - 42(2) ER - TY - CONF T1 - Qualitative Velocity Model: Representation, Reasoning and Application T2 - Ninth International Workshop on Constraint Handling Rules (CHR) Y1 - 2012 A1 - Ester Martinez-Martin A1 - M.T. Escrig A1 - Angel P. del Pobil JF - Ninth International Workshop on Constraint Handling Rules (CHR) CY - Budapest, Hungary ER - TY - CONF T1 - Reachable by walking: inappropriate integration of near and far space may lead to distance errors T2 - Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012). Y1 - 2012 A1 - Beata J. Grzyb A1 - Vicente Castelló A1 - Angel P. del Pobil JF - Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012). ER - TY - BOOK T1 - Robust Motion Detection in Real-Life Scenarios Y1 - 2012 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil PB - Springer CY - London SN - 978-1-4471-4215-7 ER - TY - CONF T1 - A test-bed Internet based architecture proposal for benchmarking of visual servoing techniques T2 - Innovative Mobile and Internet Services in Ubiquitous Computing (IMIS), 2012 Sixth International Conference on Y1 - 2012 A1 - Esteller-Curto, Roger A1 - Angel P. del Pobil A1 - Enric Cervera A1 - Marin, Raul JF - Innovative Mobile and Internet Services in Ubiquitous Computing (IMIS), 2012 Sixth International Conference on PB - IEEE ER - TY - CONF T1 - Visual Surveillance for Human-Robot Interaction T2 - IEEE International Conference on Systems, Man and Cybernetics (SMC) Y1 - 2012 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - IEEE International Conference on Systems, Man and Cybernetics (SMC) CY - Seoul, Korea SN - 978-1-4673-1714-6 ER - TY - CONF T1 - Between frustration and elation: sense of control regulates the intrinsic motivation for motor learning T2 - AAAI Workshop on Lifelong learning Y1 - 2011 A1 - Beata J. Grzyb A1 - J. Boedecker A1 - M. Asada A1 - Angel P. del Pobil A1 - Linda B. Smith JF - AAAI Workshop on Lifelong learning ER - TY - JOUR T1 - The Dorso-medial visual stream: From neural activation to sensorimotor interaction JF - Neurocomputing Y1 - 2011 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Nicoletta Marzocchi A1 - A. Bosco A1 - Patrizia Fattori A1 - Angel P. del Pobil KW - Bio-inspired systems AB -

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.

VL - 74 UR - http://www.sciencedirect.com/science/article/pii/S0925231210004212 ER - TY - CONF T1 - Elevated activation of dopaminergic brain areas facilitates behavioral state transition T2 - IROS 2011 Workshop on Cognitive Neuroscience Robotics Y1 - 2011 A1 - Beata J. Grzyb A1 - J. Boedecker A1 - M. Asada A1 - Angel P. del Pobil JF - IROS 2011 Workshop on Cognitive Neuroscience Robotics ER - TY - CONF T1 - Hierarchical object recognition inspired by primate brain mechanisms T2 - Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on Y1 - 2011 A1 - Eris Chinellato A1 - Javier Felip A1 - Beata J. Grzyb A1 - Antonio Morales A1 - Angel P. del Pobil KW - brain KW - Estimation KW - Grasping KW - hierarchical object recognition KW - Image color analysis KW - multimodal integration KW - mutual projection KW - neurophysiology KW - neuroscience hypothesis KW - object recognition KW - object weight estimation KW - primate brain mechanism KW - real robot KW - robot vision KW - Robots KW - Shape KW - visual processing KW - Visualization KW - visuomotor behavior JF - Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on ER - TY - CONF T1 - Implicit mapping of the peripersonal space of a humanoid robot T2 - Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB), 2011 IEEE Symposium on Y1 - 2011 A1 - Marco Antonelli A1 - Eris Chinellato A1 - Angel P. del Pobil KW - Head KW - humanoid robot KW - joint space representation KW - Joints KW - Neurons KW - oculomotor KW - peripersonal space KW - primate visuomotor mechanisms KW - proprioceptive information KW - retinotopic information KW - Robot kinematics KW - Robot sensing systems KW - robot vision KW - Robotics KW - sensorimotor code KW - sensorimotor knowledge KW - stereo image processing KW - stereo vision KW - Visualization KW - visuomotor awareness AB -

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.

JF - Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB), 2011 IEEE Symposium on ER - TY - JOUR T1 - Implicit Sensorimotor Mapping of the Peripersonal Space by Gazing and Reaching JF - Autonomous Mental Development, IEEE Transactions on Y1 - 2011 A1 - Eris Chinellato A1 - Marco Antonelli A1 - Beata J. Grzyb A1 - Angel P. del Pobil KW - arm motor control KW - arm movement control KW - artificial agent KW - control engineering computing KW - eye movement control KW - Eye–arm coordination KW - gazing action KW - humanoid robot KW - implicit sensorimotor mapping KW - implicit visuomotor representation KW - joint-space representation KW - motion control KW - oculomotor control KW - peripersonal space KW - radial basis function framework KW - radial basis function networks KW - reaching actions KW - Robotics KW - self-supervised learning KW - shared sensorimotor map KW - spatial awareness KW - stereo vision AB -

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.

VL - 3 ER - TY - CONF T1 - An Integrated Virtual Environment for Visual-based Reaching T2 - The Fifth ACM International Conference on Ubiquitous Information Management and Communication (ICUIMC) Y1 - 2011 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil A1 - M. Chessa A1 - F. Solari A1 - S.P. Sabatini JF - The Fifth ACM International Conference on Ubiquitous Information Management and Communication (ICUIMC) CY - Seoul, Korea SN - 978-1-4503-0571-6 ER - TY - CONF T1 - Trying anyways: how ignoring the errors may help in learning new skills T2 - IEEE International Conference on Development and Learning and Epigenetic Robotics Y1 - 2011 A1 - Beata J. Grzyb A1 - J. Boedecker A1 - M. Asada A1 - Angel P. del Pobil A1 - Linda B. Smith JF - IEEE International Conference on Development and Learning and Epigenetic Robotics ER - TY - CHAP T1 - A Hybrid Algorithm for Motion Segmentation T2 - Signal and Image Processing Y1 - 2010 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - Signal and Image Processing PB - Acta Press SN - 978-0-88986-845-8 ER - TY - CHAP T1 - Methods for reliable robot vision with a dioptric system T2 - Robot Vision Y1 - 2010 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - Robot Vision PB - In-Tech SN - 978-953-307-077-3 ER - TY - CONF T1 - A Panoramic Vision System for Human-Robot Interaction T2 - 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI2010) Y1 - 2010 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI2010) CY - Osaka, Japan SN - 978-1-4244-4893-7 ER - TY - CONF T1 - A Robust Dioptric Surveillance System T2 - The 10th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras (OmniVis) in Robotics: Science and Systems (RSS) Y1 - 2010 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - The 10th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras (OmniVis) in Robotics: Science and Systems (RSS) CY - Zaragoza, Spain ER - TY - CONF T1 - Towards Safe Interactions with a Sturdy Humanoid Robot T2 - The Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE2010) Y1 - 2010 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - The Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE2010) CY - Tolouse, France ER - TY - CHAP T1 - Visual analysis of robot and animal colonies T2 - Swarm Robotics Y1 - 2010 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - Swarm Robotics PB - In-Tech SN - 978-953-307-075-9 ER - TY - JOUR T1 - A 3D Grasping System Based on Multimodal Visual and Tactile Processing JF - Industrial Robot Journal Y1 - 2009 A1 - Beata J. Grzyb A1 - Eris Chinellato A1 - Antonio Morales A1 - Angel P. del Pobil VL - 36 ER - TY - CONF T1 - A dioptric stereo system for robust real-time people tracking T2 - Workshop on People Detection and Tracking in IEEE International Conference on Robotics and Automation (ICRA 2009) Y1 - 2009 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - Workshop on People Detection and Tracking in IEEE International Conference on Robotics and Automation (ICRA 2009) CY - Kobe, Japan ER - TY - CHAP T1 - Eye-Hand Coordination for Reaching in Dorsal Stream Area {V6A}: Computational Lessons T2 - Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 Y1 - 2009 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Nicoletta Marzocchi A1 - A. Bosco A1 - Patrizia Fattori A1 - Angel P. del Pobil ED - J. Mira ED - J. M. Ferrandez ED - J.R. Alvarez Sánchez ED - F. de la Paz ED - J. Toledo JF - Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 PB - Springer ER - TY - CONF T1 - Safety for human-robot interaction in dynamic environments T2 - IEEE International Symposium on Assembly and Manufacturing (ISAM) Y1 - 2009 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - IEEE International Symposium on Assembly and Manufacturing (ISAM) CY - Suwon, Korea SN - 978-1-4244-4627-8 ER - TY - CHAP T1 - Toward an Integrated Visuomotor Representation of the Peripersonal Space T2 - Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 Y1 - 2009 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Patrizia Fattori A1 - Angel P. del Pobil ED - J. Mira ED - J. M. Ferrandez ED - J.R. Alvarez Sánchez ED - F. de la Paz ED - J. Toledo JF - Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 ER - TY - CONF T1 - A vision system enabling all-embracing 360-degree awareness for activity recognition T2 - First Workshop on Context Awareness in Smart Environments: Background, Achievements and Challenges in 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2009) Y1 - 2009 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - First Workshop on Context Awareness in Smart Environments: Background, Achievements and Challenges in 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2009) CY - Toyama, Japan ER - TY - CONF T1 - Brain Mechanisms for Robotic Object Pose Estimation Y1 - 2008 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Angel P. del Pobil ER - TY - CONF T1 - A dioptric stereo system for robust real-time tracking in dynamic unknown environments T2 - Workshop on Omnidirectional Robot Vision in International Conference on Simulation, Modeling and Programming for Autonomous Robots Y1 - 2008 A1 - Ester Martinez-Martin A1 - Angel P. del Pobil JF - Workshop on Omnidirectional Robot Vision in International Conference on Simulation, Modeling and Programming for Autonomous Robots CY - Venice, Italy SN - 978-88-95872-01-8 ER - TY - JOUR T1 - Manipulación Autónoma Multipropósito en el Robot de Servicios Jaume-2 JF - Revista Iberoamericana de Automática e Informática Industrial Y1 - 2008 A1 - M. Prats A1 - P.J. Sanz A1 - Ester Martinez-Martin A1 - R. Marín A1 - Angel P. del Pobil VL - 5 IS - 2 ER - TY - CONF T1 - Robust grasping of 3{D} objects with stereo vision and tactile feedback T2 - Intl. Conf. on Climbing and Walking Robots, CLAWAR Y1 - 2008 A1 - Beata J. Grzyb A1 - Eris Chinellato A1 - Antonio Morales A1 - Angel P. del Pobil JF - Intl. Conf. on Climbing and Walking Robots, CLAWAR CY - Coimbra, Portugal ER - TY - CONF T1 - Safety for a robot arm moving amidst humans by using panoramic vision T2 - IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2008 A1 - Enric Cervera A1 - N. Garcia-Arancil A1 - Ester Martinez-Martin A1 - L. Nomdedeu A1 - Angel P. del Pobil JF - IEEE International Conference on Robotics and Automation (ICRA) CY - Pasadena, CA, USA ER - TY - CHAP T1 - Safety for a robot arm moving amidst humans by using panoramic vision T2 - 2008 Ieee International Conference on Robotics and Automation, Vols 1-9 Y1 - 2008 A1 - Enric Cervera A1 - Garcia-Aracil, Nicolas A1 - Ester Martinez-Martin A1 - Nomdedeu, Leo A1 - Angel P. del Pobil JF - 2008 Ieee International Conference on Robotics and Automation, Vols 1-9 T3 - Ieee International Conference on Robotics and Automation SN - 1050-4729 978-1-4244-1646-2 UR - ://WOS:000258095001142 N1 - Times Cited: 3 Garcia-Aracil, Nicolas/G-2112-2011 IEEE International Conference on Robotics and Automation May 19-23, 2008 Pasadena, CA Ieee ER - TY - JOUR T1 - The UJI Librarian Robot JF - Journal of Intelligent Service Robotics Y1 - 2008 A1 - M. Prats A1 - Ester Martinez-Martin A1 - P.J. Sanz A1 - Angel P. del Pobil VL - 1 IS - 4 ER - TY - JOUR T1 - Vision-Based Grasp Tracking for Planar Objects JF - Ieee Transactions on Systems Man and Cybernetics Part C-Applications and Reviews Y1 - 2008 A1 - Recatala, Gabriel A1 - Carloni, Raffaella A1 - Melchiorri, Claudio A1 - P.J. Sanz A1 - Enric Cervera A1 - Angel P. del Pobil VL - 38 UR - ://WOS:000260899300012 N1 - Times Cited: 2 2 ER - TY - JOUR T1 - Vision-Based Grasp Tracking for Planar Objects JF - IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews) Y1 - 2008 A1 - Gabriel Recatala A1 - Carloni, R. A1 - Melchiorri, C. A1 - P.J. Sanz A1 - Enric Cervera A1 - Angel P. del Pobil AB -

VL - 38 IS - 6 JO - IEEE Trans. Syst., Man, Cybern. C ER - TY - CONF T1 - Fisheye visual control for dependable mobile manipulators T2 - The Fifth IARP-IEEE/RAS-EURON Joint Workshop on Technical challenges for Dependable Robots in Human Environments Y1 - 2007 A1 - Enric Cervera A1 - Ester Martinez-Martin A1 - L. Nomdedeu A1 - Angel P. del Pobil JF - The Fifth IARP-IEEE/RAS-EURON Joint Workshop on Technical challenges for Dependable Robots in Human Environments CY - Rome, Italy ER - TY - JOUR T1 - Symbol grounding through robotic manipulation in cognitive systems JF - Robotics and Autonomous Systems Y1 - 2007 A1 - Eris Chinellato A1 - Antonio Morales A1 - Enric Cervera A1 - Angel P. del Pobil VL - 55 UR - ://WOS:000251462000003 N1 - Times Cited: 3 Morales, Antonio/C-4793-2012 Multidisciplinary Conference on Perception and Intelligence (CMPI-2006) Jul 10-14, 2006 Albacete, SPAIN 3 ER - TY - JOUR T1 - Towards multipurpose autonomous manipulation with the UJI service robot JF - Robotica Y1 - 2007 A1 - M. Prats A1 - P.J. Sanz A1 - Angel P. del Pobil A1 - Ester Martinez-Martin A1 - R. Marín VL - 25 IS - 2 ER - TY - CHAP T1 - A visual application for studying cooperative behaviours T2 - Visualization, Imaging and Image Processing Y1 - 2007 A1 - Ester Martinez-Martin A1 - Eris Chinellato A1 - Angel P. del Pobil JF - Visualization, Imaging and Image Processing PB - Acta Press SN - 078-0-88986-691-1 ER - TY - CONF T1 - 3D Grasp Synthesis Based on a Visual Cortex Model T2 - The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. Y1 - 2006 A1 - Gabriel Recatala A1 - Eris Chinellato A1 - Angel P. del Pobil A1 - Y. Mezouar A1 - Philippe Martinet AB -

JF - The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. PB - IEEE CY - Pisa, Italy SN - 1-4244-0040-6 ER - TY - CONF T1 - 3D Grasp Synthesis Based on Object Exploration T2 - 2006 IEEE International Conference on Robotics and Biomimetics2006 IEEE International Conference on Robotics and Biomimetics Y1 - 2006 A1 - Eris Chinellato A1 - Gabriel Recatala A1 - Angel P. del Pobil A1 - Y. Mezouar A1 - Philippe Martinet AB -

JF - 2006 IEEE International Conference on Robotics and Biomimetics2006 IEEE International Conference on Robotics and Biomimetics PB - IEEE CY - Kunming, China SN - 1-4244-0570-X ER - TY - CONF T1 - Sistema completo de manipulación autónoma basado en fusión de información sensorial y técnicas de aprendizaje orientado a la robótica de servicios T2 - 2es Jornades de Recerca en Automàtica, Visió i Robòtica Y1 - 2006 A1 - P.J. Sanz A1 - Angel P. del Pobil A1 - Antonio Morales A1 - Gabriel Recatala A1 - Eris Chinellato A1 - M. Prats A1 - Ester Martinez-Martin AB -

JF - 2es Jornades de Recerca en Automàtica, Visió i Robòtica SN - 84-7653-885-5 ER - TY - CONF T1 - Jaume: The UJI Service Robot T2 - Workshop on Mobile Manipulators: Basic Techniques, New Trends and Applications in IEEE/RSJ International Conference on Intelligent Robots and Systems Y1 - 2005 A1 - P.J. Sanz A1 - M. Prats A1 - Ester Martinez-Martin A1 - Angel P. del Pobil A1 - R. Marín A1 - J. Speth A1 - C. Achard JF - Workshop on Mobile Manipulators: Basic Techniques, New Trends and Applications in IEEE/RSJ International Conference on Intelligent Robots and Systems CY - Edmonton, Alberta, Canada ER - TY - CHAP T1 - Robots Behave in the Real World: Looking for books in a library T2 - Artificial Intelligence and Soft Computing Y1 - 2005 A1 - Ester Martinez-Martin A1 - M. Prats A1 - Angel P. del Pobil A1 - P.J. Sanz JF - Artificial Intelligence and Soft Computing PB - Acta Press SN - 0-88986-536-1 ER - TY - CONF T1 - An active learning approach for assessing robot grasp reliability T2 - Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on Y1 - 2004 A1 - Antonio Morales A1 - Eris Chinellato A1 - Fagg, A.H. A1 - Angel P. del Pobil KW - active learning approach KW - Costs KW - Grasping KW - Haptic interfaces KW - Intelligent robots KW - Laboratories KW - learning (artificial intelligence) KW - manipulators KW - motor control KW - Motor drives KW - online estimation KW - Reliability KW - reliability assessment capabilities KW - robot grasp reliability KW - Robot sensing systems KW - Torso KW - Training data KW - Uncertainty KW - visually-guided grasp selection AB -

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.

JF - Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on ER - TY - CHAP T1 - Filter-based control of a gripper-to-object positioning movement T2 - 2004 Ieee International Conference on Systems, Man & Cybernetics, Vols 1-7 Y1 - 2004 A1 - Recatala, G. A1 - Sanz, P. J. A1 - Enric Cervera A1 - Angel P. del Pobil JF - 2004 Ieee International Conference on Systems, Man & Cybernetics, Vols 1-7 T3 - Ieee International Conference on Systems, Man, and Cybernetics, Conference Proceedings SN - 1062-922X 0-7803-8566-7 UR - ://WOS:000226863300912 N1 - Times Cited: 0 IEEE International Conference on Systems, Man and Cybernetics Oct 10-13, 2004 The Hague, NETHERLANDS Ieee ER - TY - CONF T1 - Filter-based control of a gripper-to-object positioning movement T2 - 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583) Y1 - 2004 A1 - Gabriel Recatala A1 - P.J. Sanz A1 - Enric Cervera A1 - Angel P. del Pobil AB -

JF - 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583) PB - IEEE CY - The Hague, Netherlands SN - 0-7803-8567-5 ER - TY - CONF T1 - Grasp-based visual servoing for gripper-to-object positioning T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) Y1 - 2004 A1 - Gabriel Recatala A1 - P.J. Sanz A1 - Enric Cervera A1 - Angel P. del Pobil JF - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) PB - IEEE CY - Sendai, Japan SN - 0-7803-8464-4 ER - TY - CONF T1 - Grasp-based visual servoing for the manipulation of planar objects T2 - Proc. Intl. Conf. on Intelligent Manipulation and Grasping Y1 - 2004 A1 - Gabriel Recatala A1 - P.J. Sanz A1 - Enric Cervera A1 - Angel P. del Pobil AB -

JF - Proc. Intl. Conf. on Intelligent Manipulation and Grasping CY - Genoa, Italy SN - 88-900426-1-3 ER - TY - CONF T1 - Visual servoing for the tool-to-object positioning with respect to welding points T2 - Mechatronics & Robotics'04 Y1 - 2004 A1 - Gabriel Recatala A1 - P.J. Sanz A1 - Enric Cervera A1 - Angel P. del Pobil AB -

JF - Mechatronics & Robotics'04 PB - Sascha Eysoldt Verlag CY - Aachen, Germany SN - 3-938153-50-X ER - TY - CONF T1 - Experimental prediction of the performance of grasp tasks from visual features T2 - Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on Y1 - 2003 A1 - Antonio Morales A1 - Eris Chinellato A1 - Fagg, A.H. A1 - Angel P. del Pobil KW - adaptive behavior KW - Barrett hand KW - dexterous manipulators KW - estimation rule KW - feature extraction KW - Geometry KW - grasp configuration KW - Grasping KW - hand kinematics KW - humanoid robot KW - Humans KW - Image reconstruction KW - Intelligent robots KW - Kinematics KW - Laboratories KW - manipulator kinematics KW - object image KW - performance prediction KW - prediction theory KW - Reliability KW - Robot sensing systems KW - robot vision KW - Robustness KW - Service robots KW - three finger grasps KW - unmodeled objects KW - visual features KW - visually guided grasping AB -

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.

JF - Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on ER - TY - JOUR T1 - Improving image-based visual servoing with three-dimensional features JF - International Journal of Robotics Research Y1 - 2003 A1 - Enric Cervera A1 - Angel P. del Pobil A1 - Berry, F. A1 - Martinet, P. VL - 22 UR - ://WOS:000186114200004 N1 - Times Cited: 15 16 ER - TY - JOUR T1 - Sensor-based learning for practical planning of fine motions in robotics JF - Information Sciences Y1 - 2002 A1 - Enric Cervera A1 - Angel P. del Pobil VL - 145 UR - ://WOS:000178952100008 N1 - Times Cited: 5 5 ER - TY - CONF T1 - Visual grasp determination and tracking in 2D dynamic scenarios T2 - Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems Y1 - 2002 A1 - Gabriel Recatala A1 - M. Sorg A1 - J. Leupold A1 - P.J. Sanz A1 - Angel P. del Pobil JF - Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems CY - Lausanne, Switzerland SN - 0-7803-7399-5 ER - TY - CONF T1 - Heuristic Vision-Based Computation of Planar Antipodal Grasps on Unknown Objects T2 - Proc. IEEE Intl. Conf. on Robotics and Automation Y1 - 2001 A1 - Antonio Morales A1 - Gabriel Recatala A1 - P.J. Sanz A1 - Angel P. del Pobil JF - Proc. IEEE Intl. Conf. on Robotics and Automation CY - Seoul, Korea SN - 0-7803-6578-X ER - TY - BOOK T1 - A SOM-based sensing approach to robotic manipulation tasks T2 - Kohonen Maps Y1 - 1999 A1 - Enric Cervera A1 - Angel P. del Pobil JF - Kohonen Maps SN - 0-444-50270-X UR - ://WOS:000084436200016 N1 - Times Cited: 0 High-Level Workshop on the Theory of Methodology and Applications of the SOM Jul, 1999 Finland Acad Finland ER - TY - CONF T1 - Towards a Reactive Grasping System for an Industrial Robot Arm T2 - Proc. IEEE Intl. Symposium on Computational Intelligence in Robotics and Automation Y1 - 1999 A1 - P.J. Sanz A1 - Gabriel Recatala A1 - V.J. Traver A1 - Angel P. del Pobil JF - Proc. IEEE Intl. Symposium on Computational Intelligence in Robotics and Automation CY - Monterey, California, USA SN - 0-7803-5806-6 ER - TY - CONF T1 - Computing Contact Stability Grasps of Unknown Objects by Means of Vision T2 - Progreso em Inteligência Artificial. Actas do 6$^{o}$ Congresso Iberoamericano de Inteligência Artificial Y1 - 1998 A1 - Antonio Morales A1 - P.J. Sanz A1 - Gabriel Recatala A1 - Angel P. del Pobil A1 - J.M. Iñesta ED - Helder Coelho AB -

JF - Progreso em Inteligência Artificial. Actas do 6$^{o}$ Congresso Iberoamericano de Inteligência Artificial PB - Edições Colibri CY - Lisboa, Portugal SN - 972-772-033-1 ER - TY - CONF T1 - Vision-Guided Grasping of Unknown Objects for Service Robots T2 - Proc. IEEE Intl. Conf. on Robotics and Automation Y1 - 1998 A1 - P.J. Sanz A1 - Angel P. del Pobil A1 - J.M. Iñesta A1 - Gabriel Recatala JF - Proc. IEEE Intl. Conf. on Robotics and Automation CY - Leuven, Belgium SN - 0-7803-4758-7 ER - TY - CHAP T1 - Integration of self-organizing feature maps and reinforcement learning in robotics T2 - Biological and Artificial Computation: from Neuroscience to Technology Y1 - 1997 A1 - Enric Cervera A1 - Angel P. del Pobil ED - Mira, J. ED - MorenoDiaz, R. ED - Cabestany, J. JF - Biological and Artificial Computation: from Neuroscience to Technology T3 - Lecture Notes in Computer Science VL - 1240 SN - 0302-9743 3-540-63047-3 UR - ://WOS:000073947300138 N1 - Times Cited: 0 4th International Work-Conference on Artificial Neural Networks (IWANN 97) Jun 04-06, 1997 Lanzarote, spain Univ Nacl Educ Distancia; Univ Palmas Gran Canaria; Univ Politecn Catalunya; Asociac Espanola Redes Neuroanles; IFIP Working Grp Neural Comp Syst; Spanish RIG AERN; IEEE Neural Networks Council; IEEE UK&RI Commun Chapter ER - TY - BOOK T1 - Learning strategies for sensor-based manipulation tasks T2 - 1997 Ieee International Symposium on Computational Intelligence in Robotics and Automation - Cira '97, Proceedings: Towards New Computational Principles for Robotics and Automation Y1 - 1997 A1 - Enric Cervera A1 - Angel P. del Pobil JF - 1997 Ieee International Symposium on Computational Intelligence in Robotics and Automation - Cira '97, Proceedings: Towards New Computational Principles for Robotics and Automation SN - 0-8186-8138-1 UR - ://WOS:A1997BJ29M00010 N1 - Times Cited: 0 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA 97) - Towards New Computational Principles for Robotics and Automation Jul 10-11, 1997 Monterey, ca IEEE Robot & Automat Soc; IEEE Neural Network Council ER - TY - JOUR T1 - Multiple self-organizing maps: A hybrid learning scheme JF - Neurocomputing Y1 - 1997 A1 - Enric Cervera A1 - Angel P. del Pobil VL - 16 UR - ://WOS:A1997XW91000002 N1 - Times Cited: 6 7 ER - TY - JOUR T1 - Perception-based learning for motion in contact in task planning JF - Journal of Intelligent & Robotic Systems Y1 - 1996 A1 - Enric Cervera A1 - Angel P. del Pobil A1 - Marta, E. A1 - Serna, M. A. VL - 17 UR - ://WOS:A1996VY80200004 N1 - Times Cited: 11 11 ER - TY - CONF T1 - Problems in a Distributed Implementation of an Expert System T2 - Circuits, Systems and Computers Y1 - 1996 A1 - Angel P. del Pobil A1 - Gabriel Recatala JF - Circuits, Systems and Computers CY - Piraeus (Greece) ER - TY - BOOK T1 - Dealing with uncertainty in fine motion: A neural approach T2 - Industrial and Engineering Applications of Artificial Intelligence and Expert Systems Y1 - 1995 A1 - Enric Cervera A1 - Angel P. del Pobil A1 - Marta, E. A1 - Serna, M. A. JF - Industrial and Engineering Applications of Artificial Intelligence and Expert Systems SN - 2-88449-198-8 UR - ://WOS:A1995BF46C00015 N1 - Times Cited: 1 Iea/aie 95 8th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems (IEA/AIE-95) Jun 06-08, 1995 Melbourne, australia Inst Engineers, Austr; Int Soc Appl Intelligence; Amer Assoc Artificial Intelligence; Assoc Comp Machinery, SIGART; Canadian Soc Computat Studies Intelligence; European Coordinating Comm Artificial Intelligence; IEEE Comp Soc; Inst Measurement & Control; Inst Elect Engineers; Int Neural Network Soc; Japanese Soc Artificial Intelligence; Austr Comp Soc; Austr Dept Ind Sci & Technol; Victorian Dept Business & Employment; QANTAS; Def Sci & Technol Org, Austr ER - TY - CHAP T1 - Multiple self-organizing maps for supervised learning T2 - From Natural to Artificial Neural Computation Y1 - 1995 A1 - Enric Cervera A1 - Angel P. del Pobil ED - Mira, J. ED - Sandoval, F. JF - From Natural to Artificial Neural Computation T3 - Lecture Notes in Computer Science VL - 930 SN - 0302-9743 3-540-59497-3 UR - ://WOS:A1995BF02K00047 N1 - Times Cited: 2 International Workshop on Artificial Neural Networks Jun 07-09, 1995 Malaga-torremolinos, spain EC, DG XII Human Capital & Mobil; Spanish CICYT; Spanish DGICYT; Junta Andalucia; Univ Malaga; UNED ER - TY - BOOK T1 - Self-organizing maps for supervision in robot pick-and-place operations T2 - Artificial Neural Nets and Genetic Algorithms Y1 - 1995 A1 - Enric Cervera A1 - Angel P. del Pobil JF - Artificial Neural Nets and Genetic Algorithms SN - 3-211-82692-0 UR - ://WOS:A1995BE73Z00096 N1 - Times Cited: 0 International Conference on Artificial Neural Nets and Genetic Algorithms 1995 Ales, france ER - TY - BOOK T1 - USE OF SENSORS TO DEAL WITH UNCERTAINTY IN REALISTIC ROBOTIC ENVIRONMENTS T2 - Applications and Science of Artificial Neural Networks, Pts 1 and 2 Y1 - 1995 A1 - Enric Cervera A1 - Angel P. del Pobil A1 - Marta, E. A1 - Serna, M. A. JF - Applications and Science of Artificial Neural Networks, Pts 1 and 2 VL - 2492 SN - 0-8194-1845-5 UR - ://WOS:A1995BC85A00068 N1 - Times Cited: 0 1st International Conference on Applications and Science of Artificial Neural Networks Apr 17-21, 1995 Orlando, fl Soc Photo Opt Instrumentat Engineers; IEEE, Neural Networks Council ER -