Now showing items 1-20 of 37

  • A general method for the numerical computation of manipulator singularity sets 

    Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2014)
    Article
    Open Access
    The analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of ...
  • A linear relaxation technique for the position analysis of multi-loop linkages 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2008)
    External research report
    Open Access
    This report presents a new method able to isolate all configurations that a multi-loop linkage can adopt. We tackle the problem by providing formulation and resolution techniques that fit particularly well together. The ...
  • A linear relaxation technique for the position analysis of multiloop linkages 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2009)
    Article
    Open Access
    This paper presents a new method to isolate all configurations that a multiloop linkage can adopt. The problem is tackled by means of formulation and resolution techniques that fit particularly well together. The adopted ...
  • A singularity-free path planner for closed-chain manipulators 

    Bohigas Nadal, Oriol; Henderson, Michael E; Ros Giralt, Lluís; Porta Pleite, Josep Maria (IEEE, 2012)
    Conference report
    Open Access
    This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a ...
  • A space decomposition method for path planning of loop linkages 

    Porta Pleite, Josep Maria; Cortes, Juan; Ros Giralt, Lluís; Thomas, Federico (IEEE, 2007)
    Conference report
    Open Access
    This paper introduces box approximations as a new tool for path planning of closed-loop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. ...
  • Amortized constant time estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter 

    Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2011)
    Article
    Open Access
    The computational bottleneck in all information-based algorithms for simultaneous localization and mapping (SLAM) is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the ...
  • Amortized constant time state estimation in SLAM using a mixed Kalman-information filter 

    Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2009)
    Conference lecture
    Open Access
    The computational bottleneck in all informationbased algorithms for SLAM is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the covariance is needed to generate data ...
  • An open-source toolbox for motion analysis of closed-chain mechanisms 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (Springer, 2013)
    Conference report
    Open Access
    Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), ...
  • Análisis comparativo del test de Bosco con técnicas de video en 3D (Peak Performance) 

    Morgenstern de Muller, Christian Rudolf; Porta Pleite, Josep Maria; Parreño Catalán, José Luis; Ruano Gil, D. (Sociedad Ibérica de Biomecánica y Biomateriales, 1993)
    Article
    Open Access
  • Asymptotically-optimal path planning on manifolds 

    Jaillet, Leonard Georges; Porta Pleite, Josep Maria (2012)
    Conference report
    Open Access
    This paper presents an approach for optimal path planning on implicitly-defined configuration spaces such as those arising, for instance, when manipulating an object with two arms or with a multifingered hand. In this kind ...
  • Box approximations of planar linkage configuration spaces 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Creemers, Tom Lambert; Thomas, Federico (ASME International, 2007)
    Article
    Open Access
    This paper presents a numerical method able to compute all possible configurations of planar linkages. The procedure is applicable to rigid linkages (i.e., those that can only adopt a finite number of configurations) and ...
  • Complete maps of molecular-loop conformational spaces 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico; Corcho Sánchez, Francisco José; Cantó Silva, Josep; Pérez, Juan J. (John Wiley & Sons, Inc., 2007)
    Article
    Open Access
    This paper presents a numerical method to compute all possible conformations of distance-constrained molecular loops, i.e., loops where some interatomic distances are held fixed, while others can vary. The method is general ...
  • Concise proof of Tienstra's formula 

    Porta Pleite, Josep Maria; Thomas, Federico (2009)
    Article
    Open Access
    The resection problem consists in finding the location of an observer by measuring the angles sub-tended by lines of sight from this observer to three known stations. Many researchers and practitioners recognize that ...
  • Efficient asymptotically-optimal path planning on manifolds 

    Jaillet, Leonard Georges; Porta Pleite, Josep Maria (2013)
    Article
    Open Access
    This paper presents an efficient approach for asymptotically-optimal path planning on implicitly-defined configuration spaces. Recently, several asymptotically-optimal path planners have been introduced, but they typically ...
  • EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles 

    Jaillet, Leonard Georges; Hoffman, Judy; Van den Berg, Jur; Abbeel, Pieter; Porta Pleite, Josep Maria; Goldberg, Ken (2011)
    Conference report
    Open Access
    Existing sampling-based robot motion planning methods are often inefficient at finding trajectories for kinodynamic systems, especially in the presence of narrow passages between obstacles and uncertainty in control and ...
  • Exploring ambiguities for monocular non-rigid shape estimation 

    Moreno-Noguer, Francesc; Porta Pleite, Josep Maria; Fua, Pascal (Springer, 2010)
    Conference report
    Open Access
    Recovering the 3D shape of deformable surfaces from single images is difficult because many different shapes have very similar projections. This is commonly addressed by restricting the set of possible shapes to linear ...
  • Exploring the energy landscapes of flexible molecular loops using higher-dimensional continuation 

    Porta Pleite, Josep Maria; Jaillet, Leonard Georges (2013)
    Article
    Open Access
    The conformational space of a flexible molecular loop includes the set of conformations fulfilling the geometric loop-closure constraints and its energy landscape can be seen as a scalar field defined on this implicit set. ...
  • Finding all valid hand configurations for a given precision grasp 

    Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl; Ros Giralt, Lluís (2008)
    Conference report
    Open Access
    Planning a precision grasp for a robot hand is usually decomposed into two main steps. First, a set of contact points over the object surface must be determined, ensuring they allow a stable grasp. Second, the inverse ...
  • Finding all valid hand configurations for a given precision grasp 

    Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl; Ros Giralt, Lluís (IEEE, 2008)
    Conference report
    Open Access
    Planning a precision grasp for a robot hand is usually decomposed into two main steps. First, a set of contact points over the object surface must be determined, ensuring they allow a stable grasp. Second, the inverse ...
  • Global optimization of robotic grasps 

    Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Ros Giralt, Lluís (The MIT Press. Massachusetts Institute of Technology, 2011)
    Conference report
    Open Access
    This paper presents a procedure to optimize the quality of robotic grasps for objects that need to be held and manipulated in a specific way, characterized by a number of tight contact constraints. The main difficulties ...