Now showing items 1-12 of 12

  • 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), ...
  • 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 ...
  • 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 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. ...
  • Path planning on manifolds using randomized higher-dimensional continuation 

    Porta Pleite, Josep Maria; Jaillet, Leonard Georges (Springer, 2010)
    Conference report
    Open Access
    Despite the significant advances in path planning methods, problems involving highly constrained spaces are still challenging. In particular, in many situations the configuration space is a non-parametrizable variety ...
  • Path planning under kinematic constraints by rapidly exploring manifolds 

    Jaillet, Leonard Georges; Porta Pleite, Josep Maria (2013)
    Article
    Open Access
    The situation arising in path planning under kinematic constraints, where the valid configurations define a manifold embedded in the joint ambient space, can be seen as a limit case of the well-known narrow corridor problem. ...
  • Path planning with loop closure constraints using an atlas-based RRT 

    Jaillet, Leonard Georges; Porta Pleite, Josep Maria (Springer, 2011)
    Conference report
    Open Access
    In many relevant path planning problems, loop closure constraints reduce the configuration space to a manifold embedded in the higher-dimensional joint ambient space. Whereas many progresses have been done to solve path ...
  • Randomized path planning on manifolds based on higher-dimensional continuation 

    Porta Pleite, Josep Maria; Jaillet, Leonard Georges; Bohigas Nadal, Oriol (2012)
    Article
    Open Access
    Despite the significant advances in path planning methods, highly constrained problems are still challeng- ing. In some situations, the presence of constraints defines a configuration space that is a non-parametrizable manifold ...
  • Randomized tree construction algorithm to explore energy landscapes 

    Jaillet, Leonard Georges; Corcho Sánchez, Francisco José; Pérez González, Juan Jesús; Cortés, Juan (2011-12)
    Article
    Open Access
    We report in the present work a new method for exploring conformational energy landscapes. The method, called T-RRT, combines ideas from statistical physics and robot path planning algorithms. A search tree is constructed ...
  • Sampling-based path planning on configuration-space costmaps 

    Jaillet, Leonard Georges; Cortés, Juan; Simeon, Thierry (2010)
    Article
    Open Access
    This paper addresses path planning to consider a cost function defined over the configuration space. The proposed planner computes low-cost paths that follow valleys and saddle points of the configuration-space costmap. ...
  • The CUIK suite: analyzing the motion closed-chain multibody systems 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (2014)
    Article
    Open Access
    Many situations in robotics require the analysis of the motions of complex multibody systems. These are sets of articulated bodies arising in a variety of devices, including parallel manipulators, multifingered hands, or ...