58 citations · 134 across the 15 of their papers we have counts for
18 papers
A novel collision model for inextensible textiles and its experimental validation
Franco Coltraro, Jaume Amorós, Maria Alberich-Carramiñana +1
In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constrai…
Deformable Surface Reconstruction via Riemannian Metric Preservation
Oriol Barbany, Adrià Colomé, Carme Torras
Estimating the pose of an object from a monocular image is an inverse problem fundamental in computer vision. The ill-posed nature of this problem requires incorporating deformatio…
Model Predictive Control for Dynamic Cloth Manipulation: Parameter Learning and Experimental Validation
Adrià Luque, David Parent, Adrià Colomé +2
Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes…
The dGLI Cloth Coordinates: A Topological Representation for Semantic Classification of Cloth States
Franco Coltraro, Josep Fontana, Jaume Amorós +3
Robotic manipulation of cloth is a highly complex task because of its infinite-dimensional shape-state space that makes cloth state estimation very difficult. In this paper we intr…
Ethics for social robotics: A critical analysis
Júlia Pareto Boada, Begoña Román Maestre, Carme Torras
Social robotics development for the practice of care and European prospects to incorporate these AI-based systems in institutional healthcare contexts call for an urgent ethical re…
An Inextensible Model for Robotic Simulations of Textiles
Franco Coltraro, Jaume Amorós, Maria Alberich-Carramiñana +1
We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of huma…
Controlled Gaussian Process Dynamical Models with Application to Robotic Cloth Manipulation
Fabio Amadio, Juan Antonio Delgado-Guerrero, Adrià Colomé +1
Over the last years, significant advances have been made in robotic manipulation, but still, the handling of non-rigid objects, such as cloth garments, is an open problem. Physical…
Online Action Recognition
Alejandro Suárez-Hernández, Javier Segovia-Aguas, Carme Torras +1
Recognition in planning seeks to find agent intentions, goals or activities given a set of observations and a knowledge library (e.g. goal states, plans or domain theories). In thi…
Task-Adaptive Robot Learning from Demonstration with Gaussian Process Models under Replication
Miguel Arduengo, Adrià Colomé, Júlia Borràs +2
Learning from Demonstration (LfD) is a paradigm that allows robots to learn complex manipulation tasks that can not be easily scripted, but can be demonstrated by a human teacher.…
Encoding cloth manipulations using a graph of states and transitions
Júlia Borràs, Guillem Alenyà, Carme Torras
Cloth manipulation is very relevant for domestic robotic tasks, but it presents many challenges due to the complexity of representing, recognizing and predicting the behaviour of c…
Leveraging Multiple Environments for Learning and Decision Making: a Dismantling Use Case
Alejandro Suárez-Hernández, Thierry Gaugry, Javier Segovia-Aguas +4
Learning is usually performed by observing real robot executions. Physics-based simulators are a good alternative for providing highly valuable information while avoiding costly an…
Gaussian-Process-based Robot Learning from Demonstration
Miguel Arduengo, Adrià Colomé, Joan Lobo-Prat +2
Endowed with higher levels of autonomy, robots are required to perform increasingly complex manipulation tasks. Learning from demonstration is arising as a promising paradigm for t…
STRIPS Action Discovery
Alejandro Suárez-Hernández, Javier Segovia-Aguas, Carme Torras +1
The problem of specifying high-level knowledge bases for planning becomes a hard task in realistic environments. This knowledge is usually handcrafted and is hard to keep updated,…
Dynamic Cloth Manipulation with Deep Reinforcement Learning
Rishabh Jangir, Guillem Alenya, Carme Torras
In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks. Differing from the case of rigid objects, we stress that the followed tra…
Human to Robot Whole-Body Motion Transfer
Miguel Arduengo, Ana Arduengo, Adrià Colomé +2
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in huma…
A Grasping-centered Analysis for Cloth Manipulation
Júlia Borràs, Guillem Alenya, Carme Torras
Compliant and soft hands have gained a lot of attention in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for graspin…
Robust and Adaptive Door Operation with a Mobile Robot
Miguel Arduengo, Carme Torras, Luis Sentis
The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an auto…
Exploiting Single-Cycle Symmetries in Continuous Constraint Problems
Vicente Ruiz de Angulo, Carme Torras
Symmetries in discrete constraint satisfaction problems have been explored and exploited in the last years, but symmetries in continuous constraint problems have not received the s…