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The structure

The Institut de Robòtica i Informàtica Industrial (IRI), is a Joint University Research Institute participated by the Spanish Council for Scientific Research (CSIC) and the Technical University of Catalonia (UPC) that conducts basic and applied research in human-centered robotics and automatic control.The IRI offers access to scientific-technological areas included in the Barcelona Robot Lab (BRL) (http://www.iri.upc.edu/research/webprojects/barcelonarobotlab/) for doing outdoor/indoor experiments in mobile robotics and human-robot interaction and collaboration. The BRL includes an outdoor pedestrian area of 10.000sqm in the north UPC campus and an indoor area of 80sqm with Optitrack installation. The BRL allows to experiment in public spaces deploying robots in a real and controlled urban scenarios to perform navigation and human robot interaction and collaboration experiments with end users and participants. The Barcelona Robot Lab offers moreover a simulation software package with a 2D/3D scenario view, where any experiment can be validated before doing real-life experiments, and technical support along the experimentation process.

Available platforms
Image Barcelona Robot Lab

Barcelona Robot Lab

Outdoor pedestrian area of 10.000sqm in the UPC nord campus, provided with fixed cameras, wifi, 3G/4G and partial gps coverage, with presence of buildings, open and covered areas, ramps and some vegetation. Several public space scenarios could be developed in this area, as markets, bars or shops aiming to deploy robots in a real and controlled urban scenario to perform navigation and human robot interaction and collaboration experiments for multiple applications.

Detailed Information:

Image Optitrack indoor testbed

Optitrack indoor testbed

Indoor testbed based on an indoor positioning system that uses 20 Optitrack Flex13 infrared cameras. This system can calculate the position and orientation of moving objects, previously tagged with special markers, within the volume of the testbed (11x7x2.5 m) in real time (with an update rate of up to 120 Hz).

Detailed Information:

Image Tibi and Dabo robots

Tibi and Dabo robots

Tibi and Dabo are two mobile urban service robots aimed to perform navigation and human robot interaction tasks.Navigation is based on the differential Segway RMP200 platform, able to work in balancing mode, which is useful to overcome low slope ramps. Two 2D horizontal laser range sensors allow obstacle detection and localization.Human robot interaction is achieved with two 2 degrees of freedom (dof) arms, a 3 dof head with some face expressions, a stereo camera, text-to-speech software and a touch screen.They can be used to provide information, guiding and steward services to persons in urban spaces, either alone or both in collaboration.

Detailed Information:

Image Teo robot

Teo robot

Teo is a robot aimed to perform 2D Simultaneous Localization And Mapping (SLAM) and 3D mapping. Is designed to work both in indoor and rugged outdoor areas. To perform these tasks, the robot is build on a skid steer Segway RMP400 platform and provides two 2D horizontal laser range sensors, an inertial sensor (IMU), a GNSS receiver and a homemade 3D sensor based on a rotative 2D vertical laser range sensor.

Detailed Information:

Image IVO


IVO is a mobile urban service robot aimed to perform navigation, manipulation and human robot interaction tasks. Navigation is based on a 4 wheel skid steering platform, a front 3D lidar and depth camera and rear 2d lidar. Manipulation is based on two 7 DoF arms with wrist torque force sensors, a 1 DoF gripper and 3 DoF hand-like gripper.It\'s also equipped with a pan and tilt head with a depth camera, microphone and speakers with Tex-To-Speech software and a touchscreen.

Detailed Information:

Image Ana and Helena Pioneer robots

Ana and Helena Pioneer robots

Mobile urban service robot aimed to perform navigation, human robot interaction and package delivery tasks. Navigation is based on the skid steer Pioneer 3AT platform, with a 3D lidar and stereo camera for obstacle detection. Human robot interaction is based on a pan and tilt camera, status feedback lights, text-to-speech software, a microphone and a touch screen.

Detailed Information:


Coronavirus pandemic

Dear TERRINet applicants and future users,

we sincerely hope that you are staying safe in these challenging times that we are facing at the moment. The current emergency due to the COVID-19 pandemic has deeply changed our lives. The recent and progressive lock-down forced us to reorganize our working routines in smart working modalities and to shut down the TERRINet infrastructures. Therefore, we regret to inform you that Trans-National Access has been suspended until further notice.

However, we would like to reassure you that we will keep evaluating the proposals submitted for Trans-National Access regularly. Indeed, despite access cannot be allowed for a while, the selected users will be queued and access will take over gradually as soon as the situation will allow it. We also inform you that a special application mechanism has been settled in TERRINet to mitigate the delays that will occur due to the COVID-19.

The Open Call no. 4 is currently open: we are accepting proposals under the new mechanism called "first come, first served". Proposals are directly forwarded to the evaluation panel as soon as they are submitted. Proposals submitted closer to the deadline will be dispatched after that. The deadline for the Open Call n.4 will be on May 31, 2020.

Do not hesitate! Get this unique opportunity to be granted with fully-covered access (including travel and accommodation costs) to 15 leading European robotics labs and 100+ best robotic platforms and to get in touch with leading robotic experts. 

For any additional questions, please, contact us at info@terrinet.eu

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TERRINet team