%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 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 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 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 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 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 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 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 Journal Article %J International Journal of Advanced Robotic Systems %D 2012 %T Evaluation of Human Prehension Using Grasp Quality Measures %A Beatriz León %A J.L. Sancho-Bru %A Jarque-Bou, Néstor J. %A Antonio Morales %A Roa, Máximo A. %B International Journal of Advanced Robotic Systems %G eng %0 Journal Article %J Computer Methods in Biomechanics and Biomedical Engineering %D 2012 %T Grasp modelling with a biomechanical model of the hand %A J.L. Sancho-Bru %A Marta C. Mora %A Beatriz León %A Antonio Pérez-González %A José L. Iserte %A Antonio Morales %B Computer Methods in Biomechanics and Biomedical Engineering %P 1-14 %G eng %U http://www.tandfonline.com/doi/abs/10.1080/10255842.2012.682156 %R 10.1080/10255842.2012.682156 %0 Conference Paper %B XIX Congreso Nacional de Ingenier\'ıa Mecánica (CNIM 2012) %D 2012 %T Indicadores de la calidad del agarre humano: rangos de variabilidad y análisis de sensibilidad %A Beatriz León %A J.L. Sancho-Bru %A Antonio Morales %A Antonio Pérez-González %B XIX Congreso Nacional de Ingenier\'ıa Mecánica (CNIM 2012) %C Castellon, Spain %G eng %0 Journal Article %J Robotics and Autonomous Systems %D 2012 %T Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks %A Javier Felip %A Laaksonen, J. %A Antonio Morales %A V. Kyrki %B Robotics and Autonomous Systems %G eng %R 10.1016/j.robot.2012.11.010 %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 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 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 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 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 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 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 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 Robotics and Automation (ICRA), 2010 IEEE International Conference on %D 2010 %T Embodiment independent manipulation through action abstraction %A Laaksonen, J. %A Javier Felip %A Antonio Morales %A V. Kyrki %K abstraction architecture %K Automata %K embodiment independent manipulation %K failure detection %K Hardware %K Humans %K imperfect environment knowledge %K Intelligent robots %K knowledge based systems %K knowledge transfer %K manipulator kinematics %K manipulator platforms %K robot programming %K Robot sensing systems %K Robotics and automation %K Robots %K Sensor phenomena and characterization %K sensor-based control %K sensors %K service tasks %K task analysis %K Uncertainty %K USA Councils %B Robotics and Automation (ICRA), 2010 IEEE International Conference on %G eng %R 10.1109/ROBOT.2010.5509153 %0 Book Section %B Simulation, Modeling, and Programming for Autonomous Robots %D 2010 %T OpenGRASP: A Toolkit for Robot Grasping Simulation %A Beatriz León %A Ulbrich, Stefan %A Diankov, Rosen %A Puche, Gustavo %A Markus Przybylski %A Antonio Morales %A Tamim Asfour %A Sami Moisio %A Bohg, Jeannette %A Kuffner, James %A Dillmann, Rüdiger %B Simulation, Modeling, and Programming for Autonomous Robots %S Lecture Notes in Computer Science %I Springer Berlin / Heidelberg %V 6472 %P 109-120 %G eng %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 Intelligent Robots and Systems. IROS 2009. IEEE/RSJ International Conference on %D 2009 %T Robust sensor-based grasp primitive for a three-finger robot hand %A Javier Felip %A Antonio Morales %K contact-based sensor %K control law %K Feedback %K Force sensors %K grippers %K Intelligent robots %K Intelligent sensors %K Mobile robots %K naive grasp controller %K robot grasping %K Robot sensing systems %K Robust control %K robust sensor-based grasp primitive %K Robustness %K sensors %K Shape %K three-finger robot hand %K Uncertainty %B Intelligent Robots and Systems. IROS 2009. IEEE/RSJ International Conference on %G eng %R 10.1109/IROS.2009.5354760 %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 13th IASTED International Conference Robotics and Applications (RA 2007) %D 2007 %T A framework for using tactile data in autonomous reactive manipulation %A Antonio Morales %A M. Prats %A Gabriel Recatala %X

%B 13th IASTED International Conference Robotics and Applications (RA 2007) %I IASTED %C Würzburg (Germany) %8 08/2007 %@ 978-0-88986-685-0 %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 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 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 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 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 Conference Paper %B VIII Encuentros de Geometría Computacional %D 1999 %T Razonamiento Geométrico para la Determinación 2D de Puntos de Agarre %A P.J. Sanz %A V.J. Traver %A Antonio Morales %A Gabriel Recatala %X


%B VIII Encuentros de Geometría Computacional %C Castellón (Spain) %8 07/1999 %@ 87-88306-42-9 %G eng %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