%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 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 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 %X
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 
%B IEEE International Conference on Robotics and Automation (ICRA) %C Seattle, Washington, USA %8 05/2015 %G eng %0 Journal Article %J Sustainability %D 2015 %T Antecedents of Behavioral Intention to Use Mobile Telecommunication Services: Effects of Corporate Social Responsibility and Technology Acceptance %A Lee, Sanghoon %A Park, Eunil %A Kwon, Sang Jib %A Angel P. del Pobil %X

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.

%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 %X

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.

%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 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 %X

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.

%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 %X

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.

%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 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 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 %X

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.

%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 %X

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.

%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 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 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 %X

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.

%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 %X

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.

%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 %X

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.

%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 %X

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.

%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 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 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 Book Section %B Advances in Intelligent Systems and Computing %D 2013 %T Robust Object Recognition in Unstructured Environments %A Ester Martinez-Martin %A Angel P. del Pobil %B Advances in Intelligent Systems and Computing %I Springer International Publishing %V 193 %P 705-714 %@ 978–3–642–33925–7 %G eng %& Robust Object Recognition in Unstructured Environments %0 Book Section %B Biomimetic and Biohybrid Systems %D 2013 %T Speeding-Up the Learning of Saccade Control %A Marco Antonelli %A Angel J Duran %A Eris Chinellato %A Angel P. del Pobil %E Lepora, NathanF. %E Mura, Anna %E Krapp, Holger G. %E Paul F. M. J. Verschure %E Tony J. Prescott %B Biomimetic and Biohybrid Systems %S Lecture Notes in Computer Science %I Springer Berlin Heidelberg %V 8064 %P 12-23 %@ 978-3-642-39801-8 %G eng %U http://dx.doi.org/10.1007/978-3-642-39802-5_2 %R 10.1007/978-3-642-39802-5_2 %0 Conference Paper %B International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) %D 2013 %T Visual Object Recognition for Robot Tasks in Real-Life Scenarios %A Ester Martinez-Martin %A Angel P. del Pobil %B International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) %C Jeju, Korea %@ 978-1-4799-1197-4 %G eng %0 Conference Paper %B IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) %D 2013 %T Visual People Detection for Safe Human-Robot Interaction %A Ester Martinez-Martin %A Angel P. del Pobil %B IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) %C Gyeongju, Korea %@ 978-1-4799-0509-6 %G eng %0 Conference Paper %B AAAI Workshops %D 2012 %T Augmenting the Reachable Space in the NAO Humanoid Robot %A Marco Antonelli %A Beata J. Grzyb %A Vicente Castelló %A Angel P. del Pobil %K autonomous learning %K cues integration %K humanoid robot %K radial basis functions %K recursive least square %X

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.

%B AAAI Workshops %G eng %U http://www.aaai.org/ocs/index.php/WS/AAAIW12/paper/view/5231 %0 Book Section %B Distributed Computing and Artificial Intelligence %D 2012 %T A General Framework for Naming Qualitative Models Based on Intervals %A Ester Martinez-Martin %A M.T. Escrig %A Angel P. del Pobil %B Distributed Computing and Artificial Intelligence %I Springer–Verlag Berlin Heidelberg %P 681-688 %@ 978–3–642–28764–0 %G eng %& A General Framework for Naming Qualitative Models Based on Intervals %0 Journal Article %J Journal of Universal Computer Science %D 2012 %T A General Qualitative Spatio-Temporal Model Based on Intervals %A Ester Martinez-Martin %A M.T. Escrig %A Angel P. del Pobil %B Journal of Universal Computer Science %V 18 %P 1343–1378 %G eng %0 Book Section %B From Animals to Animats 12 %D 2012 %T How Walking Influences the Development of Absolute Distance Perception %A Beata J. Grzyb %A Angel P. del Pobil %A Linda B. Smith %E Ziemke, Tom %E Balkenius, Christian %E Hallam, John %B From Animals to Animats 12 %S Lecture Notes in Computer Science %I Springer Berlin / Heidelberg %V 7426 %P 65–74 %@ 978-3-642-33092-6 %G eng %0 Book Section %B Artificial Neural Networks and Machine Learning – ICANN 2012 %D 2012 %T Integration of Static and Self-motion-Based Depth Cues for Efficient Reaching and Locomotor Actions %A Beata J. Grzyb %A Vicente Castelló %A Marco Antonelli %A Angel P. del Pobil %E Villa, AlessandroE.P. %E Duch, Włodzisław %E Érdi, Péter %E Masulli, Francesco %E Palm, Günther %K depth cue integration %K distance perception %K embodied perception %K reward-mediated learning %B Artificial Neural Networks and Machine Learning – ICANN 2012 %S Lecture Notes in Computer Science %I Springer Berlin Heidelberg %V 7552 %P 322-329 %@ 978-3-642-33268-5 %G eng %U http://dx.doi.org/10.1007/978-3-642-33269-2_41 %R 10.1007/978-3-642-33269-2_41 %0 Book Section %B Biomimetic and Biohybrid Systems %D 2012 %T A Pilot Study on Saccadic Adaptation Experiments with Robots %A Eris Chinellato %A Marco Antonelli %A Angel P. del Pobil %E Tony J. Prescott %E Lepora, NathanF. %E Mura, Anna %E Paul F. M. J. Verschure %B Biomimetic and Biohybrid Systems %S Lecture Notes in Computer Science %I Springer Berlin Heidelberg %V 7375 %P 83-94 %@ 978-3-642-31524-4 %G eng %U http://dx.doi.org/10.1007/978-3-642-31525-1_8 %R 10.1007/978-3-642-31525-1_8 %0 Book Section %B From Animals to Animats 12 %D 2012 %T Plastic Representation of the Reachable Space for a Humanoid Robot %A Marco Antonelli %A Beata J. Grzyb %A Vicente Castelló %A Angel P. del Pobil %E Ziemke, Tom %E Balkenius, Christian %E Hallam, John %B From Animals to Animats 12 %S Lecture Notes in Computer Science %I Springer Berlin Heidelberg %V 7426 %P 167-176 %@ 978-3-642-33092-6 %G eng %U http://dx.doi.org/10.1007/978-3-642-33093-3_17 %R 10.1007/978-3-642-33093-3_17 %0 Journal Article %J Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on %D 2012 %T Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach %A Eris Chinellato %A Beata J. Grzyb %A Angel P. del Pobil %K binocular cue integration %K Biological system modeling %K Cameras %K Computational modeling %K Computer Simulation %K Computer-Assisted %K Cybernetics %K Depth Perception %K Estimation %K Grasping %K grippers %K Humans %K Image Processing %K Intelligent robots %K Models %K monocular cue integration %K Neurological %K neuropsychological effects %K neuroscience-inspired model %K object estimation %K perspective orientation estimator %K pose estimation %K Reliability %K Reproducibility of Results %K robot sensory systems %K robot vision %K robot vision systems %K Robotics %K Robots %K stereo image processing %K stereo vision %K stereoptic orientation estimator %K Task Performance and Analysis %K visual estimation %K visual perception %K Visualization %X

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.

%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 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 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 %X

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.

%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 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 %X

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.

%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 %X

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.

%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 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 Signal and Image Processing %D 2010 %T A Hybrid Algorithm for Motion Segmentation %A Ester Martinez-Martin %A Angel P. del Pobil %B Signal and Image Processing %I Acta Press %P 117–124 %@ 978-0-88986-845-8 %G eng %& A Hybrid Algorithm for Motion Segmentation %0 Book Section %B Robot Vision %D 2010 %T Methods for reliable robot vision with a dioptric system %A Ester Martinez-Martin %A Angel P. del Pobil %B Robot Vision %I In-Tech %P 13–20 %@ 978-953-307-077-3 %G eng %& Methods for reliable robot vision with a dioptric system %0 Conference Paper %B 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI2010) %D 2010 %T A Panoramic Vision System for Human-Robot Interaction %A Ester Martinez-Martin %A Angel P. del Pobil %B 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI2010) %C Osaka, Japan %@ 978-1-4244-4893-7 %G eng %0 Conference Paper %B The 10th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras (OmniVis) in Robotics: Science and Systems (RSS) %D 2010 %T A Robust Dioptric Surveillance System %A Ester Martinez-Martin %A Angel P. del Pobil %B The 10th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras (OmniVis) in Robotics: Science and Systems (RSS) %C Zaragoza, Spain %G eng %0 Conference Paper %B The Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE2010) %D 2010 %T Towards Safe Interactions with a Sturdy Humanoid Robot %A Ester Martinez-Martin %A Angel P. del Pobil %B The Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE2010) %C Tolouse, France %G eng %0 Book Section %B Swarm Robotics %D 2010 %T Visual analysis of robot and animal colonies %A Ester Martinez-Martin %A Angel P. del Pobil %B Swarm Robotics %I In-Tech %P 91–101 %@ 978-953-307-075-9 %G eng %& Visual analysis of robot and animal colonies %0 Journal Article %J Industrial Robot Journal %D 2009 %T A 3D Grasping System Based on Multimodal Visual and Tactile Processing %A Beata J. Grzyb %A Eris Chinellato %A Antonio Morales %A Angel P. del Pobil %B Industrial Robot Journal %V 36 %P 365-369 %G eng %R 10.1108/01439910910957138 %0 Conference Paper %B Workshop on People Detection and Tracking in IEEE International Conference on Robotics and Automation (ICRA 2009) %D 2009 %T A dioptric stereo system for robust real-time people tracking %A Ester Martinez-Martin %A Angel P. del Pobil %B Workshop on People Detection and Tracking in IEEE International Conference on Robotics and Automation (ICRA 2009) %C Kobe, Japan %G eng %0 Book Section %B Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 %D 2009 %T Eye-Hand Coordination for Reaching in Dorsal Stream Area {V6A}: Computational Lessons %A Eris Chinellato %A Beata J. Grzyb %A Nicoletta Marzocchi %A A. Bosco %A Patrizia Fattori %A Angel P. del Pobil %E J. Mira %E J. M. Ferrandez %E J.R. Alvarez Sánchez %E F. de la Paz %E J. Toledo %B Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 %I Springer %P 304–313 %G eng %R 10.1007/978-3-642-02267-8_33 %0 Conference Paper %B IEEE International Symposium on Assembly and Manufacturing (ISAM) %D 2009 %T Safety for human-robot interaction in dynamic environments %A Ester Martinez-Martin %A Angel P. del Pobil %B IEEE International Symposium on Assembly and Manufacturing (ISAM) %C Suwon, Korea %@ 978-1-4244-4627-8 %G eng %0 Book Section %B Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 %D 2009 %T Toward an Integrated Visuomotor Representation of the Peripersonal Space %A Eris Chinellato %A Beata J. Grzyb %A Patrizia Fattori %A Angel P. del Pobil %E J. Mira %E J. M. Ferrandez %E J.R. Alvarez Sánchez %E F. de la Paz %E J. Toledo %B Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 %P 314–323 %G eng %R 10.1007/978-3-642-02267-8_34 %0 Conference Paper %B 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) %D 2009 %T A vision system enabling all-embracing 360-degree awareness for activity recognition %A Ester Martinez-Martin %A Angel P. del Pobil %B 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) %C Toyama, Japan %G eng %0 Conference Paper %D 2008 %T Brain Mechanisms for Robotic Object Pose Estimation %A Eris Chinellato %A Beata J. Grzyb %A Angel P. del Pobil %G eng %R 10.1109/IJCNN.2008.4634262 %0 Conference Paper %B Workshop on Omnidirectional Robot Vision in International Conference on Simulation, Modeling and Programming for Autonomous Robots %D 2008 %T A dioptric stereo system for robust real-time tracking in dynamic unknown environments %A Ester Martinez-Martin %A Angel P. del Pobil %B Workshop on Omnidirectional Robot Vision in International Conference on Simulation, Modeling and Programming for Autonomous Robots %C Venice, Italy %@ 978-88-95872-01-8 %G eng %0 Journal Article %J Revista Iberoamericana de Automática e Informática Industrial %D 2008 %T Manipulación Autónoma Multipropósito en el Robot de Servicios Jaume-2 %A M. Prats %A P.J. Sanz %A Ester Martinez-Martin %A R. Marín %A Angel P. del Pobil %B Revista Iberoamericana de Automática e Informática Industrial %V 5 %P 25–37 %G eng %N 2 %0 Conference Paper %B Intl. Conf. on Climbing and Walking Robots, CLAWAR %D 2008 %T Robust grasping of 3{D} objects with stereo vision and tactile feedback %A Beata J. Grzyb %A Eris Chinellato %A Antonio Morales %A Angel P. del Pobil %B Intl. Conf. on Climbing and Walking Robots, CLAWAR %C Coimbra, Portugal %G eng %0 Conference Paper %B IEEE International Conference on Robotics and Automation (ICRA) %D 2008 %T Safety for a robot arm moving amidst humans by using panoramic vision %A Enric Cervera %A N. Garcia-Arancil %A Ester Martinez-Martin %A L. Nomdedeu %A Angel P. del Pobil %B IEEE International Conference on Robotics and Automation (ICRA) %C Pasadena, CA, USA %G eng %0 Book Section %B 2008 Ieee International Conference on Robotics and Automation, Vols 1-9 %D 2008 %T Safety for a robot arm moving amidst humans by using panoramic vision %A Enric Cervera %A Garcia-Aracil, Nicolas %A Ester Martinez-Martin %A Nomdedeu, Leo %A Angel P. del Pobil %B 2008 Ieee International Conference on Robotics and Automation, Vols 1-9 %S Ieee International Conference on Robotics and Automation %P 2183-2188 %@ 1050-4729 978-1-4244-1646-2 %G eng %U ://WOS:000258095001142 %9 Book Section %R 10.1109/robot.2008.4543530 %0 Journal Article %J Journal of Intelligent Service Robotics %D 2008 %T The UJI Librarian Robot %A M. Prats %A Ester Martinez-Martin %A P.J. Sanz %A Angel P. del Pobil %B Journal of Intelligent Service Robotics %V 1 %P 321–335 %G eng %N 4 %0 Journal Article %J Ieee Transactions on Systems Man and Cybernetics Part C-Applications and Reviews %D 2008 %T Vision-Based Grasp Tracking for Planar Objects %A Recatala, Gabriel %A Carloni, Raffaella %A Melchiorri, Claudio %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %B Ieee Transactions on Systems Man and Cybernetics Part C-Applications and Reviews %V 38 %P 844-849 %G eng %U ://WOS:000260899300012 %9 Journal Article %R 10.1109/tsmcc.2008.2001579 %0 Journal Article %J IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews) %D 2008 %T Vision-Based Grasp Tracking for Planar Objects %A Gabriel Recatala %A Carloni, R. %A Melchiorri, C. %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %X

%B IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews) %V 38 %P 844 - 849 %8 Jan-11-2008 %G eng %N 6 %! IEEE Trans. Syst., Man, Cybern. C %R 10.1109/TSMCC.2008.2001579 %0 Conference Paper %B The Fifth IARP-IEEE/RAS-EURON Joint Workshop on Technical challenges for Dependable Robots in Human Environments %D 2007 %T Fisheye visual control for dependable mobile manipulators %A Enric Cervera %A Ester Martinez-Martin %A L. Nomdedeu %A Angel P. del Pobil %B The Fifth IARP-IEEE/RAS-EURON Joint Workshop on Technical challenges for Dependable Robots in Human Environments %C Rome, Italy %G eng %0 Journal Article %J Robotics and Autonomous Systems %D 2007 %T Symbol grounding through robotic manipulation in cognitive systems %A Eris Chinellato %A Antonio Morales %A Enric Cervera %A Angel P. del Pobil %B Robotics and Autonomous Systems %V 55 %P 851-859 %G eng %U ://WOS:000251462000003 %9 Journal Article %R 10.1016/j.robot.2007.07.011 %0 Journal Article %J Robotica %D 2007 %T Towards multipurpose autonomous manipulation with the UJI service robot %A M. Prats %A P.J. Sanz %A Angel P. del Pobil %A Ester Martinez-Martin %A R. Marín %B Robotica %V 25 %P 245–256 %G eng %N 2 %0 Book Section %B Visualization, Imaging and Image Processing %D 2007 %T A visual application for studying cooperative behaviours %A Ester Martinez-Martin %A Eris Chinellato %A Angel P. del Pobil %B Visualization, Imaging and Image Processing %I Acta Press %P 70–75 %@ 078-0-88986-691-1 %G eng %& A visual application for studying cooperative behaviours %0 Conference Paper %B 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. %D 2006 %T 3D Grasp Synthesis Based on a Visual Cortex Model %A Gabriel Recatala %A Eris Chinellato %A Angel P. del Pobil %A Y. Mezouar %A Philippe Martinet %X

%B 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. %I IEEE %C Pisa, Italy %8 02/2006 %@ 1-4244-0040-6 %G eng %R 10.1109/BIOROB.2006.1639078 %0 Conference Paper %B 2006 IEEE International Conference on Robotics and Biomimetics2006 IEEE International Conference on Robotics and Biomimetics %D 2006 %T 3D Grasp Synthesis Based on Object Exploration %A Eris Chinellato %A Gabriel Recatala %A Angel P. del Pobil %A Y. Mezouar %A Philippe Martinet %X

%B 2006 IEEE International Conference on Robotics and Biomimetics2006 IEEE International Conference on Robotics and Biomimetics %I IEEE %C Kunming, China %8 12/2006 %@ 1-4244-0570-X %G eng %R 10.1109/ROBIO.2006.340076 %0 Conference Paper %B 2es Jornades de Recerca en Automàtica, Visió i Robòtica %D 2006 %T Sistema completo de manipulación autónoma basado en fusión de información sensorial y técnicas de aprendizaje orientado a la robótica de servicios %A P.J. Sanz %A Angel P. del Pobil %A Antonio Morales %A Gabriel Recatala %A Eris Chinellato %A M. Prats %A Ester Martinez-Martin %X

%B 2es Jornades de Recerca en Automàtica, Visió i Robòtica %8 07/2006 %@ 84-7653-885-5 %G eng %0 Conference Paper %B Workshop on Mobile Manipulators: Basic Techniques, New Trends and Applications in IEEE/RSJ International Conference on Intelligent Robots and Systems %D 2005 %T Jaume: The UJI Service Robot %A P.J. Sanz %A M. Prats %A Ester Martinez-Martin %A Angel P. del Pobil %A R. Marín %A J. Speth %A C. Achard %B Workshop on Mobile Manipulators: Basic Techniques, New Trends and Applications in IEEE/RSJ International Conference on Intelligent Robots and Systems %C Edmonton, Alberta, Canada %G eng %0 Book Section %B Artificial Intelligence and Soft Computing %D 2005 %T Robots Behave in the Real World: Looking for books in a library %A Ester Martinez-Martin %A M. Prats %A Angel P. del Pobil %A P.J. Sanz %B Artificial Intelligence and Soft Computing %I Acta Press %P 325–330 %@ 0-88986-536-1 %G eng %& Robots Behave in the Real World: Looking for books in a library %0 Conference Paper %B Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on %D 2004 %T An active learning approach for assessing robot grasp reliability %A Antonio Morales %A Eris Chinellato %A Fagg, A.H. %A Angel P. del Pobil %K active learning approach %K Costs %K Grasping %K Haptic interfaces %K Intelligent robots %K Laboratories %K learning (artificial intelligence) %K manipulators %K motor control %K Motor drives %K online estimation %K Reliability %K reliability assessment capabilities %K robot grasp reliability %K Robot sensing systems %K Torso %K Training data %K Uncertainty %K visually-guided grasp selection %X

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.

%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 Filter-based control of a gripper-to-object positioning movement %A Recatala, G. %A Sanz, P. J. %A Enric Cervera %A Angel P. del Pobil %B 2004 Ieee International Conference on Systems, Man & Cybernetics, Vols 1-7 %S Ieee International Conference on Systems, Man, and Cybernetics, Conference Proceedings %P 5423-5428 %@ 1062-922X 0-7803-8566-7 %G eng %U ://WOS:000226863300912 %9 Book Section %0 Conference Paper %B 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) %D 2004 %T Filter-based control of a gripper-to-object positioning movement %A Gabriel Recatala %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %X

%B 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) %I IEEE %C The Hague, Netherlands %8 10/2004 %@ 0-7803-8567-5 %G eng %R 10.1109/ICSMC.2004.1401056 %0 Conference Paper %B 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) %D 2004 %T Grasp-based visual servoing for gripper-to-object positioning %A Gabriel Recatala %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %B 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) %I IEEE %C Sendai, Japan %8 09/2004 %@ 0-7803-8464-4 %G eng %R 10.1109/IROS.2004.1389339 %0 Conference Paper %B Proc. Intl. Conf. on Intelligent Manipulation and Grasping %D 2004 %T Grasp-based visual servoing for the manipulation of planar objects %A Gabriel Recatala %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %X

%B Proc. Intl. Conf. on Intelligent Manipulation and Grasping %C Genoa, Italy %8 07/2004 %@ 88-900426-1-3 %G eng %0 Conference Paper %B Mechatronics & Robotics'04 %D 2004 %T Visual servoing for the tool-to-object positioning with respect to welding points %A Gabriel Recatala %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %X

%B Mechatronics & Robotics'04 %I Sascha Eysoldt Verlag %C Aachen, Germany %8 09/2004 %@ 3-938153-50-X %G eng %0 Conference Paper %B Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on %D 2003 %T Experimental prediction of the performance of grasp tasks from visual features %A Antonio Morales %A Eris Chinellato %A Fagg, A.H. %A Angel P. del Pobil %K adaptive behavior %K Barrett hand %K dexterous manipulators %K estimation rule %K feature extraction %K Geometry %K grasp configuration %K Grasping %K hand kinematics %K humanoid robot %K Humans %K Image reconstruction %K Intelligent robots %K Kinematics %K Laboratories %K manipulator kinematics %K object image %K performance prediction %K prediction theory %K Reliability %K Robot sensing systems %K robot vision %K Robustness %K Service robots %K three finger grasps %K unmodeled objects %K visual features %K visually guided grasping %X

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.

%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 ://WOS:000186114200004 %9 Journal Article %R 10.1177/027836490302210003 %0 Journal Article %J Information Sciences %D 2002 %T Sensor-based learning for practical planning of fine motions in robotics %A Enric Cervera %A Angel P. del Pobil %B Information Sciences %V 145 %P 147-168 %G eng %U ://WOS:000178952100008 %9 Journal Article %R 10.1016/s0020-0255(02)00228-1 %0 Conference Paper %B Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems %D 2002 %T Visual grasp determination and tracking in 2D dynamic scenarios %A Gabriel Recatala %A M. Sorg %A J. Leupold %A P.J. Sanz %A Angel P. del Pobil %B Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems %C Lausanne, Switzerland %8 10/2002 %@ 0-7803-7399-5 %G eng %R 10.1109/IRDS.2002.1041356 %0 Conference Paper %B Proc. IEEE Intl. Conf. on Robotics and Automation %D 2001 %T Heuristic Vision-Based Computation of Planar Antipodal Grasps on Unknown Objects %A Antonio Morales %A Gabriel Recatala %A P.J. Sanz %A Angel P. del Pobil %B Proc. IEEE Intl. Conf. on Robotics and Automation %C Seoul, Korea %8 05/2001 %@ 0-7803-6578-X %G eng %R 10.1109/ROBOT.2001.932613 %0 Book %B Kohonen Maps %D 1999 %T A SOM-based sensing approach to robotic manipulation tasks %A Enric Cervera %A Angel P. del Pobil %B Kohonen Maps %P 207-217 %@ 0-444-50270-X %G eng %U ://WOS:000084436200016 %9 Book %R 10.1016/b978-044450270-4/50016-4 %0 Conference Paper %B Proc. IEEE Intl. Symposium on Computational Intelligence in Robotics and Automation %D 1999 %T Towards a Reactive Grasping System for an Industrial Robot Arm %A P.J. Sanz %A Gabriel Recatala %A V.J. Traver %A Angel P. del Pobil %B Proc. IEEE Intl. Symposium on Computational Intelligence in Robotics and Automation %C Monterey, California, USA %8 11/1999 %@ 0-7803-5806-6 %G eng %R 10.1109/CIRA.1999.809928 %0 Conference Paper %B Progreso em Inteligência Artificial. Actas do 6$^{o}$ Congresso Iberoamericano de Inteligência Artificial %D 1998 %T Computing Contact Stability Grasps of Unknown Objects by Means of Vision %A Antonio Morales %A P.J. Sanz %A Gabriel Recatala %A Angel P. del Pobil %A J.M. Iñesta %E Helder Coelho %X

%B Progreso em Inteligência Artificial. Actas do 6$^{o}$ Congresso Iberoamericano de Inteligência Artificial %I Edições Colibri %C Lisboa, Portugal %8 10/1998 %@ 972-772-033-1 %G eng %0 Conference Paper %B Proc. IEEE Intl. Conf. on Robotics and Automation %D 1998 %T Vision-Guided Grasping of Unknown Objects for Service Robots %A P.J. Sanz %A Angel P. del Pobil %A J.M. Iñesta %A Gabriel Recatala %B Proc. IEEE Intl. Conf. on Robotics and Automation %C Leuven, Belgium %8 05/1998 %@ 0-7803-4758-7 %G eng %R 10.1109/ROBOT.1998.680889 %0 Book Section %B Biological and Artificial Computation: from Neuroscience to Technology %D 1997 %T Integration of self-organizing feature maps and reinforcement learning in robotics %A Enric Cervera %A Angel P. del Pobil %E Mira, J. %E MorenoDiaz, R. %E Cabestany, J. %B Biological and Artificial Computation: from Neuroscience to Technology %S Lecture Notes in Computer Science %V 1240 %P 1344-1354 %@ 0302-9743 3-540-63047-3 %G eng %U ://WOS:000073947300138 %9 Book Section %0 Book %B 1997 Ieee International Symposium on Computational Intelligence in Robotics and Automation - Cira '97, Proceedings: Towards New Computational Principles for Robotics and Automation %D 1997 %T Learning strategies for sensor-based manipulation tasks %A Enric Cervera %A Angel P. del Pobil %B 1997 Ieee International Symposium on Computational Intelligence in Robotics and Automation - Cira '97, Proceedings: Towards New Computational Principles for Robotics and Automation %P 54-59 %@ 0-8186-8138-1 %G eng %U ://WOS:A1997BJ29M00010 %9 Book %0 Journal Article %J Neurocomputing %D 1997 %T Multiple self-organizing maps: A hybrid learning scheme %A Enric Cervera %A Angel P. del Pobil %B Neurocomputing %V 16 %P 309-318 %G eng %U ://WOS:A1997XW91000002 %9 Journal Article %R 10.1016/s0925-2312(97)00040-4 %0 Journal Article %J Journal of Intelligent & Robotic Systems %D 1996 %T Perception-based learning for motion in contact in task planning %A Enric Cervera %A Angel P. del Pobil %A Marta, E. %A Serna, M. A. %B Journal of Intelligent & Robotic Systems %V 17 %P 283-308 %G eng %U ://WOS:A1996VY80200004 %9 Journal Article %R 10.1007/bf00339665 %0 Conference Paper %B Circuits, Systems and Computers %D 1996 %T Problems in a Distributed Implementation of an Expert System %A Angel P. del Pobil %A Gabriel Recatala %B Circuits, Systems and Computers %C Piraeus (Greece) %8 07/1996 %G eng %0 Book %B Industrial and Engineering Applications of Artificial Intelligence and Expert Systems %D 1995 %T Dealing with uncertainty in fine motion: A neural approach %A Enric Cervera %A Angel P. del Pobil %A Marta, E. %A Serna, M. A. %B Industrial and Engineering Applications of Artificial Intelligence and Expert Systems %P 119-126 %@ 2-88449-198-8 %G eng %U ://WOS:A1995BF46C00015 %9 Book %0 Book Section %B From Natural to Artificial Neural Computation %D 1995 %T Multiple self-organizing maps for supervised learning %A Enric Cervera %A Angel P. del Pobil %E Mira, J. %E Sandoval, F. %B From Natural to Artificial Neural Computation %S Lecture Notes in Computer Science %V 930 %P 345-352 %@ 0302-9743 3-540-59497-3 %G eng %U ://WOS:A1995BF02K00047 %9 Book Section %0 Book %B Artificial Neural Nets and Genetic Algorithms %D 1995 %T Self-organizing maps for supervision in robot pick-and-place operations %A Enric Cervera %A Angel P. del Pobil %B Artificial Neural Nets and Genetic Algorithms %P 372-375 %@ 3-211-82692-0 %G eng %U ://WOS:A1995BE73Z00096 %9 Book %0 Book %B Applications and Science of Artificial Neural Networks, Pts 1 and 2 %D 1995 %T USE OF SENSORS TO DEAL WITH UNCERTAINTY IN REALISTIC ROBOTIC ENVIRONMENTS %A Enric Cervera %A Angel P. del Pobil %A Marta, E. %A Serna, M. A. %B Applications and Science of Artificial Neural Networks, Pts 1 and 2 %V 2492 %P 740-747 %@ 0-8194-1845-5 %G eng %U ://WOS:A1995BC85A00068 %9 Book %R 10.1117/12.205188