%0 Conference Paper %D Submitted %G eng %0 Conference Paper %B RoboCup 2017 %D In Press %T Cloud Simulations for RoboCup %A Enric Cervera %A Gustavo A. Casañ %A Ricardo Tellez %B RoboCup 2017 %C Nagoya, Japan %G eng %0 Journal Article %J ReVision %D In Press %T Una experiencia en la enseñanza en secundaria de robótica y programación con recursos remotos: el curso Tortuga del RPN %A Gustavo A. Casañ %A Maria Pilar Ramo %K Robotics. Education. Comercial robots and applications. %X
En este artículo se presenta una experiencia de enseñanza de programación en secundaria que se realizó durante 2015, utilizando uno de los cursos agrupados bajo la herramienta Robot Programming Network (RPN), el curso The Turtle Robot. La experiencia ha tenido una recepción muy positiva entre los alumnos.
%B ReVision %V 10 %G eng %N 3 %0 Journal Article %J ReVision %D 2017 %T Autonomous Mobile Robots %A Gustavo A. Casañ %A Enric Cervera %A Ricardo Tellez %K MOOC %K Robotics Education %B ReVision %V 10 %8 01/2017 %G eng %N 1 %9 Short article %0 Journal Article %J Sustainability %D 2017 %T Economic feasibility of renewable electricity generation systems for local government office: evaluation of the Jeju special self-governing Province in South Korea %A Park, Eunil %A Kim, Ki Joon %A Kwon, Sang Jib %A Han, Taeil %A Na, Wongi S %A del Pobil, Angel P %B Sustainability %V 9 %P 82 %G eng %0 Journal Article %J IEEE Robotics and Automation Magazine %D 2017 %T Object Detection and Recognition for Assistive Robots %A E. Martinez-Martin %A A.P. del Pobil %B IEEE Robotics and Automation Magazine %V 24 %8 09/2017 %G eng %N 3 %& 123 %0 Conference Paper %B Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction %D 2017 %T Robust motion detection and tracking for human-robot interaction %A Martinez-Martin, Ester %A del Pobil, Angel P %B Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction %I ACM %G eng %0 Conference Paper %B 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems %D 2017 %T UJI RobInLab's Approach to the Amazon Robotics Challenge 2017 %A Angel P. del Pobil %A Majd Kassawat %A Angel J Duran %A Monica Arias %A Nataliya Nechyporenko %A Arijit Mallick %A Enric Cervera %A Dipendra Subedi %A Ilia Vasilev %A Daniel Cardin %A Emanuele Sansebastiano %A Ester Martinez-Martin %A Antonio Morales %A Gustavo A. Casañ %A Alejandro Arenal %A Bjorn Goriatcheff %A Carlos Rubert %A Gabriel Recatala %B 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems %I IEEE Xplore %C Daegu, Korea %G eng %0 Journal Article %J International Journal of Distributed Sensor Networks %D 2016 %T CompaRob: The Shopping Cart Assistance Robot %A Sales, Jorge %A Martí, Jose V. %A Marin, Raul %A Enric Cervera %A Sanz, Pedro J. %X
Technology has recently been developed which offers an excellent opportunity to design systems with the ability to help people in their own houses. In particular, assisting elderly people in their environments is something that can significantly improve their quality of life. However, helping elderly people outside their usual environment is also necessary, to help them to carry out daily tasks like shopping. In this paper we present a person-following shopping cart assistance robot, capable of helping elderly people to carry products in a supermarket. First of all, the paper presents a survey of related systems that perform this task, using different approaches, such as attachable modules and computer vision. After that, the paper describes in detail the proposed system and its main features. The cart uses ultrasonic sensors and radio signals to provide a simple and effective person localization and following method. Moreover, the cart can be connected to a portable device like a smartphone or tablet, thus providing ease of use to the end user. The prototype has been tested in a grocery store, while simulations have been done to analyse its scalability in larger spaces where multiple robots could coexist.
%B International Journal of Distributed Sensor Networks %V 12 %G eng %U http://dsn.sagepub.com/content/12/2/4781280.abstract %R 10.1155/2016/4781280 %0 Book Section %B Interdisciplinary Perspectives on Contemporary Conflict Resolution %D 2016 %T Conflict Resolution in Robotics: An Overview %A E. Martinez-Martin %A A.P. del Pobil %B Interdisciplinary Perspectives on Contemporary Conflict Resolution %I IGI Global %C Hershey %P 263-278 %G eng %0 Conference Paper %B International Conference on Intelligent Autonomous Systems %D 2016 %T Discovering the Relationship Between the Morphology and the Internal Model in a Robot System by Means of Neural Networks %A Angel J Duran %A del Pobil, Angel P %B International Conference on Intelligent Autonomous Systems %I Springer %G eng %0 Conference Paper %B Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on %D 2016 %T Initial weight estimation for learning the internal model based on the knowledge of the robot morphology %A Angel J Duran %A del Pobil, Angel P %B Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on %I IEEE %G eng %0 Journal Article %J ReVision %D 2016 %T Introducción a la Programación de Robots Móviles: un curso en 3D con simuladores %A Gustavo A. Casañ %A Enric Cervera %K aprendizaje online %K programación de robots %K Robóts móviles %XEn este artículo se presenta un nuevo curso de programación en Python y control robótico basada en simulaciones 3D de distintos robots móviles al que hemos dado el nombre de Mobile Robots with The Construct. El curso sólo requiere una conexión a internet y los estudiantes podrán comenzar a adquirir conocimientos de programación y robótica. Es parte del proyecto RPN (Robot Programming Network, http://www.robotprogramming.net, [1]), que pretende reunir robots, internet y programación, combinando el potencial de las tres tecnologías en un marco único de aprendizaje. Este curso se ha desarrollado en colaboración con la empresa The Construct (http://www.theconstructsim.com/), una compañía que permite el acceso a diversos simuladores robóticos en la nube a sus subscriptores y que nos proporciona que la posibilidad de que los alumnos se hagan una cuenta limitada en su sistema gratuitamente.
La principal novedad respecto a otros cursos del proyecto es que los simuladores, al emplear la última tecnología y estar en la nube, garantizan el acceso permanente de los estudiantes.
%B ReVision %V 9 %G eng %U http://www.aenui.net/ojs/index.php?journal=revision&page=index %N 3 %9 Short article %0 Conference Paper %B International Conference on Simulation of Adaptive Behavior %D 2016 %T A Model of Artificial Genotype and Norm of Reaction in a Robotic System %A Angel J Duran %A Angel P. del Pobil %B International Conference on Simulation of Adaptive Behavior %I Springer International Publishing %G eng %0 Book Section %B Robotics: New Research %D 2016 %T Object Recognition for Robot Tasks: An Overview %A E. Martinez-Martin %A A.P. del Pobil %B Robotics: New Research %I Nova Science Publishers %G eng %0 Journal Article %J Renewable Energy %D 2016 %T Optimal renewable power generation systems for Busan metropolitan city in South Korea %A Baek, Seoin %A Park, Eunil %A Kim, Min-Gil %A Kwon, Sang Jib %A Kim, Ki Joon %A Ohm, Jay Y %A del Pobil, Angel P %B Renewable Energy %V 88 %P 517–525 %G eng %0 Conference Proceedings %B 14th International Conference on Intelligent Autonomous Systems (IAS-14) %D 2016 %T An RGB-D Visual Application for Error Detection in Robot Grasping Tasks %A E. Martinez-Martin %A A.P. del Pobil %B 14th International Conference on Intelligent Autonomous Systems (IAS-14) %G eng %0 Journal Article %J Journal of Intelligent & Robotic Systems %D 2016 %T The robot programming network %A Cervera, Enric %A Martinet, Philippe %A Marin, Raul %A Moughlbay, Amine A %A del Pobil, Angel P %A Alemany, Jaime %A Esteller, Roger %A Casañ, Gustavo %B Journal of Intelligent & Robotic Systems %V 81 %P 77–95 %G eng %0 Book %D 2016 %T VISUAL NEUROSCIENCE OF ROBOTIC GRASPING. %A Chinellato, Eris %A del Pobil, Angel P %I Springer %G eng %0 Conference Paper %B IEEE International Conference on Robotics and Automation (ICRA) %D 2015 %T Adaptive Saccade Controller Inspired by the Primates’ Cerebellum %A Antonelli, Marco %A Angel J Duran %A Eris Chinellato %A Angel P. del Pobil %K Biologically-Inspired Robots %K Control Architectures and Programming %K Learning and Adaptive Systems %XThe 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.
%B Sustainability %V 7 %P 11345 %G eng %U http://www.mdpi.com/2071-1050/7/8/11345 %R 10.3390/su70811345 %0 Conference Paper %B Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts %D 2015 %T Body Language for Mood Induction Procedures %A Diaz, Cristina %A Angel P. del Pobil %A Garcia, Azucena %A Castilla, Diana %A Miralles, Ignacio %K human-robot interaction %K mood induction procedure %B Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts %I ACM %C New York, NY, USA %@ 978-1-4503-3318-4 %G eng %U http://doi.acm.org/10.1145/2701973.2702024 %R 10.1145/2701973.2702024 %0 Journal Article %J Sustainability %D 2015 %T Determinants of Behavioral Intention to Use South Korean Airline Services: Effects of Service Quality and Corporate Social Responsibility %A Park, Eunil %A Lee, Sanghoon %A Kwon, Sang Jib %A Angel P. del Pobil %XSince 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.
%B Sustainability %V 7 %P 12106 %G eng %U http://www.mdpi.com/2071-1050/7/9/12106 %R 10.3390/su70912106 %0 Conference Paper %B Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on %D 2015 %T How important is body language in mood induction procedures with a humanoid robot? %A C. Díaz-Montilla %A Angel P. del Pobil %K emotion induction %K Emotion recognition %K humanoid robot %K Humanoid robots %K learning (artificial intelligence) %K Libraries %K MIP %K Mood %K mood induction procedure %K positive attitude %K positive body language %K positive induction effect %K positive psychology principle %K PP %K psychology %K social learning %K Speech %K therapeutic robotics %K Velten method %K Velten positive statements %B Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on %8 Aug %G eng %R 10.1109/ROMAN.2015.7333697 %0 Journal Article %J ReVisión %D 2015 %T NAO Race Competition %A Gustavo A. Casañ %A Enric Cervera %A Olivier Michel %A Ricardo Tellez %K NAO %K Programming %K Robotic competition %XEn este artículo se presenta una nueva competición de programación y control robótico basada en simulaciones de una carrera a pie con el robot humanoide NAO. El desafio sólo requiere una conexión a internet y conocimientos de programación en Python y robótica, por lo que estudiantes universitarios de carreras técnicas pueden encontrarla accesible e interesante.
%B ReVisión %V 8 %8 10/2015 %G eng %U http://www.aenui.net/ojs/index.php?journal=revision&page=article&op=view&path%5B%5D=217 %N 3 %9 Short Article %0 Conference Paper %B Human Robot Interaction Education Workshop %D 2015 %T Online teaching of humanoid robots %A Gustavo A. Casañ %A Enric Cervera %A Angel P. del Pobil %K Humanoid robots %K online %K Programming %K teaching %XIn 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.
%B Human Robot Interaction Education Workshop %C Portland, Oregon %8 03/2015 %G eng %U http://www.rose-hulman.edu/academics/multidisciplinary-opportunities/robotics/hri-education-workshop.aspx %0 Journal Article %J Journal of Inteligent and Robotic Sytems %D 2015 %T The Robot Programming Network %A Enric Cervera %A Philippe Martinet %A Marin, Raul %A Abou Moughlbay, Amine %A Angel P. del Pobil %A Jaime Alemany %A Esteller-Curto, Roger %A Gustavo A. Casañ %K Online learning %K Remote laboratories %K robot programming %XThe 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.
%B Journal of Inteligent and Robotic Sytems %V 81 %8 12/2015 %G eng %N 1 %& 77 %R DOI 10.1007/s10846-015-0201-7 %0 Journal Article %J ReVisión %D 2015 %T Robot Programming Network: un sistema distribuido para el aprendizaje de la programación de robots %A Gustavo A. Casañ %A Enric Cervera %K Education %K On-line %K Programming %K Robotics %XLa red RPN (Robot Programming Network, http://www.robotprogramming.net) es una iniciativa para crear una red de laboratorios educativos de robótica con capacidadades de programación remotas. Consiste en materiales abiertos en línea y servidores que están preparados para que los estudiantes puedan probar sus programas en el mismo momento que los realizan. El código fuente del proyecto es abierto y está disponible para cualquier persona interesada.
Los servidores ejecutan varios entornos de simulación robótica, pero también se puede ofrecer acceso a robots reales. El uso del estándar Robotic Operating System (ROS) permite que el sistema se amplíe a un gran número de plataformas de robots y que se pueda conectar a laboratorios ya existentes, para la construcción de una gran red social de enseñanza de robótica.
Los materiales de aprendizaje ofrecen una guía paso a paso para la solución de problemas con un paulatino aumento del nivel de dificultad. Se aplican técnicas de gamificación (ludificación), para hacer el entorno más atractivo y fidelizar a los alumnos.
%B ReVisión %V 8 %8 01/2015 %G eng %U http://www.aenui.net/ojs/index.php?journal=revision&page=article&op=view&path%5B%5D=158 %N 1, January 2015 %0 Conference Paper %B 2015 IEEE International Conference on Robotics and Automation %D 2015 %T ROS-Based Online Robot Programming for Remote Education and Training %A Gustavo A. Casañ %A Enric Cervera %A Abou Moughlbay, Amine %A Jaime Alemany %A Philippe Martinet %K Design %K Experimentation %K Languages %K online %K Programming %K Robots %K teaching %XRPN (Robotic Programming Network) is an initiative to bring existing remote robot laboratories to a new dimension, by adding the flexibility and power of writing ROS code in an Internet browser and running it in the remote robot with a single click. The code is executed in the robot server at full speed, i.e. without any communication delay, and the output of the process is returned back. Built upon Robot Web Tools, RPN works out-of-the-box in any ROS-based robot or simulator. This paper presents the core functionality of RPN in the context of a web-enabled ROS system, its possibilities for remote education and training, and some experimentation with simulators and real robots in which we have integrated the tool in a Moodle environment, creating some programming courses and make it open to researchers and students (http://robotprogramming.uji.es).
%B 2015 IEEE International Conference on Robotics and Automation %C Seattle, USA %8 05/2015 %G eng %0 Journal Article %J ReVisión %D 2015 %T RPN: aprendizaje de la programación de robots mediante bloques en un entorno 3D %A G. A. Casañ %A Enric Cervera %K Block programming %K Online learning %K Robotics %X
El proyecto RPN pretende reunir tres componentes: robots, internet y programación, combinando el potencial de las tres tecnologías en un marco único de aprendizaje. En este artículo presentamos un nuevo curso integrado dentro del sistema RPN que aporta dos grandes novedades: un simulador robótico en tres dimensiones, que hace más atractivo el curso y la utilización de un entorno de programación con bloques, para facilitar el aprendizaje a los más jóvenes.
%B ReVisión %V 8 %8 09/2015 %G eng %U http://www.aenui.net/ReVision/ %N 3 %9 Short article %0 Conference Paper %B Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on %D 2015 %T Tombatossals: A humanoid torso for autonomous sensor-based tasks %A Felip, Javier %A Angel J Duran %A Antonelli, Marco %A Morales, Antonio %A Angel P. del Pobil %B Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on %I IEEE %G eng %0 Journal Article %J IEEE Robotics Automation Magazine %D 2015 %T Toward the Robot Butler: The HUMABOT Challenge [Competitions] %A Enric Cervera %A J. C. Garcia %A P. J. Sanz %B IEEE Robotics Automation Magazine %V 22 %P 8-17 %8 June %G eng %R 10.1109/MRA.2015.2418511 %0 Book Section %B Human-Robot Interactions. Principles, Technologies and Challenges %D 2015 %T UJI HRI-BD: A New Human-Robot Interaction Benchmark Dataset %A E. Martinez-Martin %A A.P. del Pobil %B Human-Robot Interactions. Principles, Technologies and Challenges %I Nova Publishers New York %P 57–74 %G eng %0 Journal Article %J Electronics %D 2015 %T Usability of the Stylus Pen in Mobile Electronic Documentation %A Park, Eunil %A Angel P. del Pobil %A Kwon, Sang Jib %XStylus 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.
%B Electronics %V 4 %P 922 %G eng %U http://www.mdpi.com/2079-9292/4/4/922 %R 10.3390/electronics4040922 %0 Journal Article %J The Scientific World Journal %D 2014 %T An Active System for Visually-Guided Reaching in 3D Across Binocular Fixations %A Ester Martinez-Martin %A Angel P. del Pobil %A M. Chessa %A F. Solari %A S.P. Sabatini %XBased 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.
%B The Scientific World Journal %V 2014 %8 02/2014 %G eng %0 Book Section %B From Animals to Animats 13 %D 2014 %T Animal Social Behaviour: A Visual Analysis %A Martinez-Martin, Ester %A Angel P. del Pobil %E Angel P. del Pobil %E Eris Chinellato %E Martinez-Martin, Ester %E Hallam, John %E Enric Cervera %E Antonio Morales %B From Animals to Animats 13 %S Lecture Notes in Computer Science %I Springer International Publishing %V 8575 %P 320-327 %@ 978-3-319-08863-1 %G eng %U http://dx.doi.org/10.1007/978-3-319-08864-8_31 %R 10.1007/978-3-319-08864-8_31 %0 Conference Paper %B IEEE International Conference on Robotics and Automation (ICRA) %D 2014 %T Bayesian Multimodal Integration in a Robot Replicating Human Head and Eye Movements %A Marco Antonelli %A Angel P. del Pobil %A Rucci, Michele %K eye-movements %K head-saccades %K model %K multisensory-integration %K neurorobotics %K Robotics %B IEEE International Conference on Robotics and Automation (ICRA) %G eng %0 Conference Paper %B 2014 IEEE International Conference on Robotics and Automation (ICRA) %D 2014 %T Characterization of grasp quality measures for evaluating robotic hands prehension %A B. León %A C. Rubert %A J. Sancho-Bru %A A. Morales %K analytical metrics %K Barrett hand grasping %K Correlation %K exhaustive simulation testing %K grasp quality measure characterization %K grasp quality metrics %K Joints %K manipulators %K robotic hand prehension %K Robots %K Sensitivity %K Shape %K Vectors %B 2014 IEEE International Conference on Robotics and Automation (ICRA) %P 3688-3693 %8 May %G eng %R 10.1109/ICRA.2014.6907393 %0 Journal Article %J IEEE Robotics Automation Magazine %D 2014 %T Fostering Progress in Performance Evaluation and Benchmarking of Robotic and Automation Systems [TC Spotlight] %A F. Bonsignorio %A Angel P. del Pobil %A E. Messina %K Automation %K automation systems %K benchmark testing %K benchmarking %K daily life activities %K engineering systems %K fostering progress %K performance evaluation %K robot adaptive behavior %K robot antifragile behavior %K robot intelligent behavior %K Robot kinematics %K robot robust behavior %K Robot sensing systems %K robot tasks %K robotic systems %K Robots %B IEEE Robotics Automation Magazine %V 21 %P 22-25 %8 March %G eng %R 10.1109/MRA.2014.2298363 %0 Journal Article %J Computer Methods in Biomechanics and Biomedical Engineering %D 2014 %T Grasp modelling with a biomechanical model of the hand %A Joaquín L. Sancho-Bru %A Marta C. Mora %A Beatriz E. León %A Antonio Pérez-González %A José L. Iserte %A Antonio Morales %B Computer Methods in Biomechanics and Biomedical Engineering %V 17 %P 297-310 %G eng %U http://dx.doi.org/10.1080/10255842.2012.682156 %R 10.1080/10255842.2012.682156 %0 Conference Paper %B 2014 IEEE-RAS International Conference on Humanoid Robots %D 2014 %T Grasp quality metrics for robot hands benchmarking %A C. Rubert %A B. León %A A. Morales %K Computational modeling %K grasp configurations %K grasp quality metrics %K Grasping %K grasping capabilities %K Humanoid robots %K Joints %K manipulators %K Measurement %K robot hand designs %K robot hands benchmarking %K Robots %K Standards %K Synchronous digital hierarchy %B 2014 IEEE-RAS International Conference on Humanoid Robots %P 761-766 %8 Nov %G eng %R 10.1109/HUMANOIDS.2014.7041449 %0 Journal Article %J IEEE Trans. Auton. Mental Develop %D 2014 %T A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot %A Marco Antonelli %A Gibaldi, Agostino %A Beuth, Frederik %A Angel J Duran %A Canessa, Andrea %A Chessa, Manuela %A Solari, F %A Angel P. del Pobil %A Hamker, F %A Eris Chinellato %A Sabatini, SP %B IEEE Trans. Auton. Mental Develop %P 1–15 %G eng %R 10.1109/TAMD.2014.2332875 %0 Journal Article %J Robotics and Autonomous Systems %D 2014 %T Learning the visual-oculomotor transformation: Effects on saccade control and space representation %A Marco Antonelli %A Angel J Duran %A Eris Chinellato %A Angel P. del Pobil %K Cerebellum %K Gaussian process regression %K Humanoid robotics %K Sensorimotor transformation %K stereo vision %XActive 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.
%B Robotics and Autonomous Systems %G eng %U http://www.sciencedirect.com/science/article/pii/S092188901400311X %R 10.1016/j.robot.2014.11.018 %0 Journal Article %J Sustainability %D 2014 %T Optimized Renewable and Sustainable Electricity Generation Systems for Ulleungdo Island in South Korea %A Yoo, Kyeongsik %A Park, Eunil %A Kim, Heetae %A Ohm, Jay Y. %A Yang, Taeyong %A Kim, Ki Joon %A Chang, Hyun Joon %A Angel P. del Pobil %XThe 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.
%B Sustainability %V 6 %P 7883 %G eng %U http://www.mdpi.com/2071-1050/6/11/7883 %R 10.3390/su6117883 %0 Conference Proceedings %B International Joint Conference in Neural Networks %D 2013 %T Application of the Visuo-Oculomotor Transformation to Ballistic and Visually-Guided Eye Movements %A Marco Antonelli %A Angel J Duran %A Angel P. del Pobil %B International Joint Conference in Neural Networks %G eng %0 Conference Proceedings %B 13th IEEE-RAS, International Conference on Humanoid Robots, HUMANOIDS %D 2013 %T Contact Localization through Robot and Object Motion from Point Clouds %A Jose Bernabe %A Javier Felip %A Angel P. del Pobil %A Antonio Morales %K Physical interaction %K Tactile perception %K visual perception %XAbstract: 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.
%B 13th IEEE-RAS, International Conference on Humanoid Robots, HUMANOIDS %I IEEE %C Atlanta, GA, USA %8 10/2013 %G eng %0 Book Section %B Computer Vision Systems %D 2013 %T Depth Estimation during Fixational Head Movements in a Humanoid Robot %A Marco Antonelli %A Angel P. del Pobil %A Rucci, Michele %E Chen, Mei %E Leibe, Bastian %E Neumann, Bernd %XUnder 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.
%B Computer Vision Systems %S Lecture Notes in Computer Science %I Springer Berlin Heidelberg %V 7963 %P 264-273 %@ 978-3-642-39401-0 %G eng %U http://dx.doi.org/10.1007/978-3-642-39402-7_27 %R 10.1007/978-3-642-39402-7_27 %0 Conference Paper %B Intelligent Robots and Systems (IROS) %D 2013 %T Evaluation of Prosthetic Hands Prehension Using Grasp Quality Measures %A Beatriz León %A C. Rubert %A J.L. Sancho-Bru %A Antonio Morales %B Intelligent Robots and Systems (IROS) %8 11/2013 %G eng %0 Book Section %B Trends in Practical Applications of Agent and Multi-Agent %D 2013 %T Find It – An Assistant Home Agent %A A. Costa %A Ester Martinez-Martin %A Angel P. del Pobil %A R. Simoes %A P. Novais %B Trends in Practical Applications of Agent and Multi-Agent %I Springer International Publishing %V 221 %P 121-128 %@ 978–3–319–00562–1 %G eng %& Find It – An Assistant Home Agent %0 Book Section %B Designing Intelligent Robots: Reintegrating AI %D 2013 %T Integration of Visuomotor Learning, Cognitive Grasping and Sensor-Based Physical Interaction in the UJI Humanoid Torso %A Angel P. del Pobil %A Angel J Duran %A Marco Antonelli %A Javier Felip %A Antonio Morales %A M. Prats %A Eris Chinellato %B Designing Intelligent Robots: Reintegrating AI %I AAAI %V SS-13-04 %P pp. 6-11 %@ 978-1-57735-601-1 %G eng %0 Journal Article %J Robotics and Autonomous Systems %D 2013 %T Model of tactile sensors using soft contacts and its application in robot grasping simulation %A Sami Moisio %A Beatriz León %A Pasi Korkealaakso %A Antonio Morales %K Soft contacts %B Robotics and Autonomous Systems %V 61 %P 1 - 12 %G eng %U http://www.sciencedirect.com/science/article/pii/S0921889012001911 %R 10.1016/j.robot.2012.10.008 %0 Journal Article %J International Journal of Artificial Intelligence %D 2013 %T Naming Qualitative Models Based on Intervals: A General Framework %A Ester Martinez-Martin %A M.T. Escrig %A Angel P. del Pobil %B International Journal of Artificial Intelligence %V A13 %P 74–92 %G eng %N 11 %0 Book Section %B Signal Processing, Pattern Recognition and Applications %D 2013 %T Object Recognition in Cluttered Environments %A Ester Martinez-Martin %A Angel P. del Pobil %B Signal Processing, Pattern Recognition and Applications %I Acta Press %P 474-479 %@ 978–0–88986–944–8 %G eng %& Object Recognition in Cluttered Environments %0 Conference Paper %B IASTED International Conference on Signal Processing, Pattern Recognition and Applications (SPPRA) %D 2013 %T Object Recognition in Cluttered Environments %A Ester Martinez-Martin %A Angel P. del Pobil %B IASTED International Conference on Signal Processing, Pattern Recognition and Applications (SPPRA) %C Innsbruck, Austria %G eng %R 10.2316/P.2013.798-026 %0 Book Section %B Intelligent Autonomous Systems 12 %D 2013 %T On-Line Learning of the Visuomotor Transformations on a Humanoid Robot %A Marco Antonelli %A Eris Chinellato %A Angel P. del Pobil %E Lee, Sukhan %E Cho, Hyungsuck %E Yoon, Kwang-Joon %E Lee, Jangmyung %B Intelligent Autonomous Systems 12 %S Advances in Intelligent Systems and Computing %I Springer Berlin Heidelberg %V 193 %P 853-861 %@ 978-3-642-33925-7 %G eng %U http://dx.doi.org/10.1007/978-3-642-33926-4_82 %R 10.1007/978-3-642-33926-4_82 %0 Journal Article %J ADCAIJ: Advances in Distributed Computing and Artificial Intelligence Journal %D 2013 %T A Qualitative Acceleration Model Based on Intervals %A Ester Martinez-Martin %A M.T. Escrig %A Angel P. del Pobil %B ADCAIJ: Advances in Distributed Computing and Artificial Intelligence Journal %V 1 %P 17–23 %G eng %N 5 %0 Book Section %B Distributed Computing and Artificial Intelligence %D 2013 %T Qualitative Acceleration Model: Representation, Reasoning and Application %A Ester Martinez-Martin %A Angel P. del Pobil %A M.T. Escrig %B Distributed Computing and Artificial Intelligence %I Springer International Publishing %V 217 %P 87-94 %@ 978–3–319–00550–8 %G eng %& Qualitative Acceleration Model: Representation, Reasoning and Application %0 Journal Article %J Intelligent Autonomous Systems 12, Vol 1 %D 2013 %T Real-Time Model Based Visual Servoing Tasks on a Humanoid Robot %A Abou Moughlbay, Amine %A Enric Cervera %A Martinet, Philippe %B Intelligent Autonomous Systems 12, Vol 1 %V 193 %P 321-333 %G eng %UReaching 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.
%B AAAI Workshops %G eng %U http://www.aaai.org/ocs/index.php/WS/AAAIW12/paper/view/5231 %0 Journal Article %J AI Communications %D 2012 %T Computer Vision Methods for Robot Tasks: Motion Detection, Depth Estimation and Tracking %A Ester Martinez-Martin %B AI Communications %V 25 %P 373–375 %G eng %0 Conference Paper %B 12th IEEE-RAS International Conference on Humanoid Robots %D 2012 %T Contact-based blind grasping of unknown objects %A Javier Felip %A Jose Bernabe %A Antonio Morales %B 12th IEEE-RAS International Conference on Humanoid Robots %8 Nov. %@ 978-1-4673-1369-8 %G eng %0 Book %B 2012 12th International Conference on Control, Automation, Robotics & Vision %D 2012 %T Error Regulation Strategies for Model Based Visual Servoing Tasks Application to Autonomous Object Grasping with Nao Robot %A Abou Moughlbay, Amine %A Enric Cervera %A Martinet, Philippe %B 2012 12th International Conference on Control, Automation, Robotics & Vision %P 1311-1316 %@ 978-1-4673-1872-3 %G eng %UThe 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.
%B Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on %V 42 %P 530-538 %G eng %R 10.1109/TSMCB.2011.2168952 %0 Journal Article %J IEEE Transactions on Systems, Man, and Cybernetics, Part B %D 2012 %T Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach %A Eris Chinellato %A Beata J. Grzyb %A Angel P. del Pobil %B IEEE Transactions on Systems, Man, and Cybernetics, Part B %V 42(2) %P 530–538 %G eng %0 Conference Paper %B Ninth International Workshop on Constraint Handling Rules (CHR) %D 2012 %T Qualitative Velocity Model: Representation, Reasoning and Application %A Ester Martinez-Martin %A M.T. Escrig %A Angel P. del Pobil %B Ninth International Workshop on Constraint Handling Rules (CHR) %C Budapest, Hungary %G eng %0 Conference Paper %B Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012). %D 2012 %T Reachable by walking: inappropriate integration of near and far space may lead to distance errors %A Beata J. Grzyb %A Vicente Castelló %A Angel P. del Pobil %B Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012). %G eng %0 Conference Paper %B 18th Congress of the European Society of Biomechanics (ESB 2012) %D 2012 %T Robotic Quality Measures Evaluating Human Grasp %A Beatriz León %A J.L. Sancho-Bru %A Rodriguez, Sergio %A Antonio Morales %A Antonio Pérez-González %K Measures Quality %B 18th Congress of the European Society of Biomechanics (ESB 2012) %C Lisbon, Portugal %G eng %0 Book %D 2012 %T Robust Motion Detection in Real-Life Scenarios %A Ester Martinez-Martin %A Angel P. del Pobil %I Springer %C London %@ 978-1-4471-4215-7 %G eng %0 Conference Paper %B 12th IEEE-RAS International Conference on Humanoid Robots %D 2012 %T Simulation of robot dynamics for grasping and manipulation tasks %A Beatriz León %A Javier Felip %A Higinio Martí %A Antonio Morales %B 12th IEEE-RAS International Conference on Humanoid Robots %8 Nov. %@ 978-1-4673-1369-8 %G eng %0 Conference Paper %B 2012 IEEE International Conference on Robotics and Automation (ICRA) %D 2012 %T Simulation of tactile sensors using soft contacts for robot grasping applications %A Sami Moisio %A Beatriz León %A Pasi Korkealaakso %A Antonio Morales %B 2012 IEEE International Conference on Robotics and Automation (ICRA) %C Saint Paul, Minnesota %8 may %G eng %R 10.1109/ICRA.2012.6224629 %0 Journal Article %J Journal of Real-Time Image Processing %D 2012 %T Speeding up the log-polar transform with inexpensive parallel hardware: graphics units and multi-core architectures %A Marco Antonelli %A Igual, FranciscoD. %A Ramos, Francisco %A V.J. Traver %K CUDA %K Graphics processors %K Log-polar mapping %K Multi-core CPUs %K Real-time computer vision %K Shaders %B Journal of Real-Time Image Processing %P 1-18 %G eng %U http://dx.doi.org/10.1007/s11554-012-0281-6 %R 10.1007/s11554-012-0281-6 %0 Conference Paper %B 10th International IFAC Symposium on Robot Control (SYROCO 2012) %D 2012 %T Task-based Grasp Adaptation on a Humanoid Robot %A Jeannette Bohg %A Kai Welke %A Beatriz León %A Martin Do %A Dan Song %A Walter Wohlkinger %A Marianna Madry %A Aitor Aldoma %A Markus Przybylski %A Tamim Asfour %A Higinio Martí %A Danica Kragic %A Antonio Morales %A Markus Vincze %B 10th International IFAC Symposium on Robot Control (SYROCO 2012) %C Dubrovnik, Croatia %G eng %0 Conference Paper %B Innovative Mobile and Internet Services in Ubiquitous Computing (IMIS), 2012 Sixth International Conference on %D 2012 %T A test-bed Internet based architecture proposal for benchmarking of visual servoing techniques %A Esteller-Curto, Roger %A Angel P. del Pobil %A Enric Cervera %A Marin, Raul %B Innovative Mobile and Internet Services in Ubiquitous Computing (IMIS), 2012 Sixth International Conference on %I IEEE %G eng %0 Conference Paper %B IEEE International Conference on Systems, Man and Cybernetics (SMC) %D 2012 %T Visual Surveillance for Human-Robot Interaction %A Ester Martinez-Martin %A Angel P. del Pobil %B IEEE International Conference on Systems, Man and Cybernetics (SMC) %C Seoul, Korea %8 October %@ 978-1-4673-1714-6 %G eng %0 Conference Paper %B AAAI Workshop on Lifelong learning %D 2011 %T Between frustration and elation: sense of control regulates the intrinsic motivation for motor learning %A Beata J. Grzyb %A J. Boedecker %A M. Asada %A Angel P. del Pobil %A Linda B. Smith %B AAAI Workshop on Lifelong learning %G eng %0 Journal Article %J Neurocomputing %D 2011 %T The Dorso-medial visual stream: From neural activation to sensorimotor interaction %A Eris Chinellato %A Beata J. Grzyb %A Nicoletta Marzocchi %A A. Bosco %A Patrizia Fattori %A Angel P. del Pobil %K Bio-inspired systems %XThe 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.
%B Neurocomputing %V 74 %P 1203 - 1212 %G eng %U http://www.sciencedirect.com/science/article/pii/S0925231210004212 %R 10.1016/j.neucom.2010.07.029 %0 Conference Paper %B IROS 2011 Workshop on Cognitive Neuroscience Robotics %D 2011 %T Elevated activation of dopaminergic brain areas facilitates behavioral state transition %A Beata J. Grzyb %A J. Boedecker %A M. Asada %A Angel P. del Pobil %B IROS 2011 Workshop on Cognitive Neuroscience Robotics %G eng %0 Conference Paper %B 25th International Workshop on Qualitative Reasoning (QR) %D 2011 %T A General Qualitative Spatio-Temporal Model Based on Intervals %A Ester Martinez-Martin %A M.T. Escrig %B 25th International Workshop on Qualitative Reasoning (QR) %C Barcelona, Spain %G eng %0 Conference Paper %B Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on %D 2011 %T Hierarchical object recognition inspired by primate brain mechanisms %A Eris Chinellato %A Javier Felip %A Beata J. Grzyb %A Antonio Morales %A Angel P. del Pobil %K brain %K Estimation %K Grasping %K hierarchical object recognition %K Image color analysis %K multimodal integration %K mutual projection %K neurophysiology %K neuroscience hypothesis %K object recognition %K object weight estimation %K primate brain mechanism %K real robot %K robot vision %K Robots %K Shape %K visual processing %K Visualization %K visuomotor behavior %B Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on %G eng %R 10.1109/CIVI.2011.5955017 %0 Conference Paper %B Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB), 2011 IEEE Symposium on %D 2011 %T Implicit mapping of the peripersonal space of a humanoid robot %A Marco Antonelli %A Eris Chinellato %A Angel P. del Pobil %K Head %K humanoid robot %K joint space representation %K Joints %K Neurons %K oculomotor %K peripersonal space %K primate visuomotor mechanisms %K proprioceptive information %K retinotopic information %K Robot kinematics %K Robot sensing systems %K robot vision %K Robotics %K sensorimotor code %K sensorimotor knowledge %K stereo image processing %K stereo vision %K Visualization %K visuomotor awareness %XIn 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.
%B Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB), 2011 IEEE Symposium on %G eng %R 10.1109/CCMB.2011.5952119 %0 Journal Article %J Autonomous Mental Development, IEEE Transactions on %D 2011 %T Implicit Sensorimotor Mapping of the Peripersonal Space by Gazing and Reaching %A Eris Chinellato %A Marco Antonelli %A Beata J. Grzyb %A Angel P. del Pobil %K arm motor control %K arm movement control %K artificial agent %K control engineering computing %K eye movement control %K Eye–arm coordination %K gazing action %K humanoid robot %K implicit sensorimotor mapping %K implicit visuomotor representation %K joint-space representation %K motion control %K oculomotor control %K peripersonal space %K radial basis function framework %K radial basis function networks %K reaching actions %K Robotics %K self-supervised learning %K shared sensorimotor map %K spatial awareness %K stereo vision %XPrimates 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.
%B Autonomous Mental Development, IEEE Transactions on %V 3 %P 43-53 %G eng %R 10.1109/TAMD.2011.2106781 %0 Conference Paper %B The Fifth ACM International Conference on Ubiquitous Information Management and Communication (ICUIMC) %D 2011 %T An Integrated Virtual Environment for Visual-based Reaching %A Ester Martinez-Martin %A Angel P. del Pobil %A M. Chessa %A F. Solari %A S.P. Sabatini %B The Fifth ACM International Conference on Ubiquitous Information Management and Communication (ICUIMC) %C Seoul, Korea %8 February %@ 978-1-4503-0571-6 %G eng %0 Conference Paper %B Robotics and Automation (ICRA), 2011 IEEE International Conference on %D 2011 %T Mind the gap - robotic grasping under incomplete observation %A J. Bohg %A M. Johnson-Roberson %A Beatriz León %A Javier Felip %A Gratal, X. %A N Bergstrom %A Danica Kragic %A Antonio Morales %K Approximation methods %K collision-free movements %K gap robotic grasping %K Grasping %K Image reconstruction %K incomplete observation %K manipulator kinematics %K mesh generation %K mesh reconstruction %K object shape prediction %K Planning %K Robots %K Shape %K Surface reconstruction %B Robotics and Automation (ICRA), 2011 IEEE International Conference on %G eng %R 10.1109/ICRA.2011.5980354 %0 Conference Paper %B IEEE International Conference on Robotics and Automation (ICRA) %D 2011 %T Mind the gap - robotic grasping under incomplete observation %A Bohg, Jeannette %A M. Johnson-Roberson %A Beatriz León %A Javier Felip %A Gratal, X %A N Bergstrom %A Danica Kragic %A Antonio Morales %K collision-free movements %K gap robotic grasping %K incomplete observation %K manipulator kinematics %K mesh generation %K mesh reconstruction %K object shape prediction %K Robots %B IEEE International Conference on Robotics and Automation (ICRA) %C Shanghai, China %G eng %U http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5980354 %R 10.1109/ICRA.2011.5980354 %0 Conference Paper %B Actas I Reunión del Cap\'ıtulo Nacional de la Sociedad Europea de Biomecánica %D 2011 %T Modelo biomecánico de la mano orientado al agarre de objetos %A Beatriz León %A J.L. Sancho-Bru %A Antonio Morales %A Antonio Pérez-González %B Actas I Reunión del Cap\'ıtulo Nacional de la Sociedad Europea de Biomecánica %C Zaragoza, Spain %G eng %0 Conference Paper %B Actas del X Congreso Iberoamericano de Ingenier\'ıa Mecánica, CIBIM10 %D 2011 %T Modelo de la mano para la evaluacion de agarres %A J.L. Sancho-Bru %A Marta C. Mora %A Beatriz León %A Antonio Pérez-González %A José L. Iserte %B Actas del X Congreso Iberoamericano de Ingenier\'ıa Mecánica, CIBIM10 %C Oporto, Portugal %G eng %0 Journal Article %J Theoretical biomechanics %D 2011 %T Towards a Realistic and Self-Contained Biomechanical Model of the Hand %A J.L. Sancho-Bru %A Antonio Pérez-González %A Marta C. Mora %A Beatriz León %A Vergara, Margarita %A José L. Iserte %A Rodríguez-Cervantes, Pablo J. %A Antonio Morales %B Theoretical biomechanics %P 212–240 %@ 978-953-307-851-9 %G eng %U http://www.intechopen.com/articles/show/title/towards-a-realistic-and-self-contained-biomechanical-model-of-the-hand %0 Conference Paper %B IEEE International Conference on Development and Learning and Epigenetic Robotics %D 2011 %T Trying anyways: how ignoring the errors may help in learning new skills %A Beata J. Grzyb %A J. Boedecker %A M. Asada %A Angel P. del Pobil %A Linda B. Smith %B IEEE International Conference on Development and Learning and Epigenetic Robotics %G eng %0 Book Section %B 2010 Ieee/Asme International Conference on Advanced Intelligent Mechatronics %D 2010 %T Creation of geometric formations of multiple robots with limited sensory power based on visual information %A Nebot, Patricio %A Enric Cervera %B 2010 Ieee/Asme International Conference on Advanced Intelligent Mechatronics %S IEEE ASME International Conference on Advanced Intelligent Mechatronics %@ 2159-6255 978-1-4244-8030-2 %G eng %ULearning 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.
%B Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on %G eng %R 10.1109/IROS.2004.1389399 %F grasping, learning %0 Book Section %B 2004 Ieee International Conference on Systems, Man & Cybernetics, Vols 1-7 %D 2004 %T Agent-based software integration for a mobile manipulator %A Nebot, P. %A Saintluc, G. %A Berton, B. %A Enric Cervera %B 2004 Ieee International Conference on Systems, Man & Cybernetics, Vols 1-7 %S Ieee International Conference on Systems, Man, and Cybernetics, Conference Proceedings %P 6167-6172 %@ 1062-922X 0-7803-8566-7 %G eng %UThis 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.
%B Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on %G eng %R 10.1109/IROS.2003.1249685 %0 Journal Article %J International Journal of Robotics Research %D 2003 %T Improving image-based visual servoing with three-dimensional features %A Enric Cervera %A Angel P. del Pobil %A Berry, F. %A Martinet, P. %B International Journal of Robotics Research %V 22 %P 821-839 %G eng %U