TY - CONF T1 - UJI RobInLab's Approach to the Amazon Robotics Challenge 2017 T2 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems Y1 - 2017 A1 - Angel P. del Pobil A1 - Majd Kassawat A1 - Angel J Duran A1 - Monica Arias A1 - Nataliya Nechyporenko A1 - Arijit Mallick A1 - Enric Cervera A1 - Dipendra Subedi A1 - Ilia Vasilev A1 - Daniel Cardin A1 - Emanuele Sansebastiano A1 - Ester Martinez-Martin A1 - Antonio Morales A1 - Gustavo A. Casañ A1 - Alejandro Arenal A1 - Bjorn Goriatcheff A1 - Carlos Rubert A1 - Gabriel Recatala JF - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems PB - IEEE Xplore CY - Daegu, Korea 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 - JOUR T1 - Grasp modelling with a biomechanical model of the hand JF - Computer Methods in Biomechanics and Biomedical Engineering Y1 - 2014 A1 - Joaquín L. Sancho-Bru A1 - Marta C. Mora A1 - Beatriz E. León A1 - Antonio Pérez-González A1 - José L. Iserte A1 - Antonio Morales VL - 17 UR - http://dx.doi.org/10.1080/10255842.2012.682156 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 - CONF T1 - Evaluation of Prosthetic Hands Prehension Using Grasp Quality Measures T2 - Intelligent Robots and Systems (IROS) Y1 - 2013 A1 - Beatriz León A1 - C. Rubert A1 - J.L. Sancho-Bru A1 - Antonio Morales JF - Intelligent Robots and Systems (IROS) 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 - Model of tactile sensors using soft contacts and its application in robot grasping simulation JF - Robotics and Autonomous Systems Y1 - 2013 A1 - Sami Moisio A1 - Beatriz León A1 - Pasi Korkealaakso A1 - Antonio Morales KW - Soft contacts VL - 61 UR - http://www.sciencedirect.com/science/article/pii/S0921889012001911 ER - TY - CONF T1 - Contact-based blind grasping of unknown objects T2 - 12th IEEE-RAS International Conference on Humanoid Robots Y1 - 2012 A1 - Javier Felip A1 - Jose Bernabe A1 - Antonio Morales JF - 12th IEEE-RAS International Conference on Humanoid Robots SN - 978-1-4673-1369-8 ER - TY - JOUR T1 - Evaluation of Human Prehension Using Grasp Quality Measures JF - International Journal of Advanced Robotic Systems Y1 - 2012 A1 - Beatriz León A1 - J.L. Sancho-Bru A1 - Jarque-Bou, Néstor J. A1 - Antonio Morales A1 - Roa, Máximo A. ER - TY - JOUR T1 - Grasp modelling with a biomechanical model of the hand JF - Computer Methods in Biomechanics and Biomedical Engineering Y1 - 2012 A1 - J.L. Sancho-Bru A1 - Marta C. Mora A1 - Beatriz León A1 - Antonio Pérez-González A1 - José L. Iserte A1 - Antonio Morales UR - http://www.tandfonline.com/doi/abs/10.1080/10255842.2012.682156 ER - TY - CONF T1 - Indicadores de la calidad del agarre humano: rangos de variabilidad y análisis de sensibilidad T2 - XIX Congreso Nacional de Ingenier\'ıa Mecánica (CNIM 2012) Y1 - 2012 A1 - Beatriz León A1 - J.L. Sancho-Bru A1 - Antonio Morales A1 - Antonio Pérez-González JF - XIX Congreso Nacional de Ingenier\'ıa Mecánica (CNIM 2012) CY - Castellon, Spain ER - TY - JOUR T1 - Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks JF - Robotics and Autonomous Systems Y1 - 2012 A1 - Javier Felip A1 - Laaksonen, J. A1 - Antonio Morales A1 - V. Kyrki ER - TY - CONF T1 - Robotic Quality Measures Evaluating Human Grasp T2 - 18th Congress of the European Society of Biomechanics (ESB 2012) Y1 - 2012 A1 - Beatriz León A1 - J.L. Sancho-Bru A1 - Rodriguez, Sergio A1 - Antonio Morales A1 - Antonio Pérez-González KW - Measures Quality JF - 18th Congress of the European Society of Biomechanics (ESB 2012) CY - Lisbon, Portugal ER - TY - CONF T1 - Simulation of robot dynamics for grasping and manipulation tasks T2 - 12th IEEE-RAS International Conference on Humanoid Robots Y1 - 2012 A1 - Beatriz León A1 - Javier Felip A1 - Higinio Martí A1 - Antonio Morales JF - 12th IEEE-RAS International Conference on Humanoid Robots SN - 978-1-4673-1369-8 ER - TY - CONF T1 - Simulation of tactile sensors using soft contacts for robot grasping applications T2 - 2012 IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2012 A1 - Sami Moisio A1 - Beatriz León A1 - Pasi Korkealaakso A1 - Antonio Morales JF - 2012 IEEE International Conference on Robotics and Automation (ICRA) CY - Saint Paul, Minnesota ER - TY - CONF T1 - Task-based Grasp Adaptation on a Humanoid Robot T2 - 10th International IFAC Symposium on Robot Control (SYROCO 2012) Y1 - 2012 A1 - Jeannette Bohg A1 - Kai Welke A1 - Beatriz León A1 - Martin Do A1 - Dan Song A1 - Walter Wohlkinger A1 - Marianna Madry A1 - Aitor Aldoma A1 - Markus Przybylski A1 - Tamim Asfour A1 - Higinio Martí A1 - Danica Kragic A1 - Antonio Morales A1 - Markus Vincze JF - 10th International IFAC Symposium on Robot Control (SYROCO 2012) CY - Dubrovnik, Croatia 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 - Mind the gap - robotic grasping under incomplete observation T2 - IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2011 A1 - Bohg, Jeannette A1 - M. Johnson-Roberson A1 - Beatriz León A1 - Javier Felip A1 - Gratal, X A1 - N Bergstrom A1 - Danica Kragic A1 - Antonio Morales KW - collision-free movements KW - gap robotic grasping KW - incomplete observation KW - manipulator kinematics KW - mesh generation KW - mesh reconstruction KW - object shape prediction KW - Robots JF - IEEE International Conference on Robotics and Automation (ICRA) CY - Shanghai, China UR - http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5980354 ER - TY - CONF T1 - Mind the gap - robotic grasping under incomplete observation T2 - Robotics and Automation (ICRA), 2011 IEEE International Conference on Y1 - 2011 A1 - J. Bohg A1 - M. Johnson-Roberson A1 - Beatriz León A1 - Javier Felip A1 - Gratal, X. A1 - N Bergstrom A1 - Danica Kragic A1 - Antonio Morales KW - Approximation methods KW - collision-free movements KW - gap robotic grasping KW - Grasping KW - Image reconstruction KW - incomplete observation KW - manipulator kinematics KW - mesh generation KW - mesh reconstruction KW - object shape prediction KW - Planning KW - Robots KW - Shape KW - Surface reconstruction JF - Robotics and Automation (ICRA), 2011 IEEE International Conference on ER - TY - CONF T1 - Modelo biomecánico de la mano orientado al agarre de objetos T2 - Actas I Reunión del Cap\'ıtulo Nacional de la Sociedad Europea de Biomecánica Y1 - 2011 A1 - Beatriz León A1 - J.L. Sancho-Bru A1 - Antonio Morales A1 - Antonio Pérez-González JF - Actas I Reunión del Cap\'ıtulo Nacional de la Sociedad Europea de Biomecánica CY - Zaragoza, Spain ER - TY - JOUR T1 - Towards a Realistic and Self-Contained Biomechanical Model of the Hand JF - Theoretical biomechanics Y1 - 2011 A1 - J.L. Sancho-Bru A1 - Antonio Pérez-González A1 - Marta C. Mora A1 - Beatriz León A1 - Vergara, Margarita A1 - José L. Iserte A1 - Rodríguez-Cervantes, Pablo J. A1 - Antonio Morales SN - 978-953-307-851-9 UR - http://www.intechopen.com/articles/show/title/towards-a-realistic-and-self-contained-biomechanical-model-of-the-hand ER - TY - CONF T1 - Embodiment independent manipulation through action abstraction T2 - Robotics and Automation (ICRA), 2010 IEEE International Conference on Y1 - 2010 A1 - Laaksonen, J. A1 - Javier Felip A1 - Antonio Morales A1 - V. Kyrki KW - abstraction architecture KW - Automata KW - embodiment independent manipulation KW - failure detection KW - Hardware KW - Humans KW - imperfect environment knowledge KW - Intelligent robots KW - knowledge based systems KW - knowledge transfer KW - manipulator kinematics KW - manipulator platforms KW - robot programming KW - Robot sensing systems KW - Robotics and automation KW - Robots KW - Sensor phenomena and characterization KW - sensor-based control KW - sensors KW - service tasks KW - task analysis KW - Uncertainty KW - USA Councils JF - Robotics and Automation (ICRA), 2010 IEEE International Conference on ER - TY - CHAP T1 - OpenGRASP: A Toolkit for Robot Grasping Simulation T2 - Simulation, Modeling, and Programming for Autonomous Robots Y1 - 2010 A1 - Beatriz León A1 - Ulbrich, Stefan A1 - Diankov, Rosen A1 - Puche, Gustavo A1 - Markus Przybylski A1 - Antonio Morales A1 - Tamim Asfour A1 - Sami Moisio A1 - Bohg, Jeannette A1 - Kuffner, James A1 - Dillmann, Rüdiger JF - Simulation, Modeling, and Programming for Autonomous Robots T3 - Lecture Notes in Computer Science PB - Springer Berlin / Heidelberg VL - 6472 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 - Robust sensor-based grasp primitive for a three-finger robot hand T2 - Intelligent Robots and Systems. IROS 2009. IEEE/RSJ International Conference on Y1 - 2009 A1 - Javier Felip A1 - Antonio Morales KW - contact-based sensor KW - control law KW - Feedback KW - Force sensors KW - grippers KW - Intelligent robots KW - Intelligent sensors KW - Mobile robots KW - naive grasp controller KW - robot grasping KW - Robot sensing systems KW - Robust control KW - robust sensor-based grasp primitive KW - Robustness KW - sensors KW - Shape KW - three-finger robot hand KW - Uncertainty JF - Intelligent Robots and Systems. IROS 2009. IEEE/RSJ International Conference on 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 - A framework for using tactile data in autonomous reactive manipulation T2 - 13th IASTED International Conference Robotics and Applications (RA 2007) Y1 - 2007 A1 - Antonio Morales A1 - M. Prats A1 - Gabriel Recatala AB -

JF - 13th IASTED International Conference Robotics and Applications (RA 2007) PB - IASTED CY - Würzburg (Germany) SN - 978-0-88986-685-0 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 - 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 - 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 - 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 - 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 - CONF T1 - Razonamiento Geométrico para la Determinación 2D de Puntos de Agarre T2 - VIII Encuentros de Geometría Computacional Y1 - 1999 A1 - P.J. Sanz A1 - V.J. Traver A1 - Antonio Morales A1 - Gabriel Recatala AB -


JF - VIII Encuentros de Geometría Computacional CY - Castellón (Spain) SN - 87-88306-42-9 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 -