Ara es mostren els items 35-54 de 71

    • 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)
      Text en actes de congrés
      Accés obert
      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 (2008)
      Text en actes de congrés
      Accés obert
      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 ...
    • Further characterization of the zebrafish model of acrylamide acute neurotoxicity: gait abnormalities and oxidative stress 

      Faria, Melissa; Valls Brusco, Arnau; Prats Miravitllas, Eva; Bedrossiantz, Juliette; Orozco, Manuel; Porta Pleite, Josep Maria; Gómez Oliván, Leobardo Manuel; Raldúa Pérez, Demetrio José (Nature, 2019-05-08)
      Article
      Accés obert
      Occupational, accidental, or suicidal exposure to acrylamide (ACR) may result in a neurotoxic syndrome. Development of animal models of acrylamide neurotoxicity is necessary for increasing our mechanistic understanding of ...
    • Global optimization of robotic grasps 

      Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Ros Giralt, Lluís (The MIT Press. Massachusetts Institute of Technology, 2011)
      Text en actes de congrés
      Accés obert
      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 ...
    • Grasp optimization under specific contact constraints 

      Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2013)
      Article
      Accés obert
      This paper presents a procedure to synthesize highquality grasps for objects that need to be held and manipulated in a specific way, characterized by a pre-specified set of contact constraints to be satisfied. Due to the ...
    • Hand-eye calibration made easy through a closed-form two-stage method 

      Sarabandi, Soheil; Porta Pleite, Josep Maria; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Article
      Accés obert
      An analysis of the existing hand-eye calibration methods reveals that most of them are far from trivial. And, what is worse, their intrinsic complexity makes it difficult to elucidate under which circumstances they fail ...
    • Information-based compact Pose SLAM 

      Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2010)
      Article
      Accés obert
      Pose SLAMis the variant of simultaneous localization and map building (SLAM) is the variant of SLAM, in which only the robot trajectory is estimated and where landmarks are only used to produce relative constraints between ...
    • Innovative computerized dystrophin quantification method based on spectral confocal microscopy 

      Codina Berguedà, Anna; Roldán Molina, Mónica; Natera de Benito, Daniel; Ortez González, Carlos Ignacio; Planas Casadevall, Robert; Matalonga, Leslie; Cuadras Pallejà, Daniel; Carrera García, Laura; Expósito Escudero, Jéssica; Marquez Pereira, Jesús; Jiménez Mallebrera, Cecilia; Porta Pleite, Josep Maria; Nascimento Osorio, Andrés; Jou Muñoz, Cristina (Multidisciplinary Digital Publishing Institute (MDPI), 2023-03-28)
      Article
      Accés obert
      Several clinical trials are working on drug development for Duchenne and Becker muscular dystrophy (DMD and BMD) treatment, and, since the expected increase in dystrophin is relatively subtle, high-sensitivity quantification ...
    • Kinodynamic planning on constraint manifolds 

      Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2017)
      Report de recerca
      Accés obert
      This report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ...
    • Numerical computation of manipulator singularities 

      Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (IEEE, 2012)
      Text en actes de congrés
      Accés obert
      This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each ...
    • On the symmetric molecular conjectures 

      Porta Pleite, Josep Maria; Ros Giralt, Lluís; Schulze, Bernd; Sljoka, Adnan; Whiteley, Walter (Springer, 2013)
      Text en actes de congrés
      Accés obert
      A molecular linkage consists of a set of rigid bodies pairwise connected by revolute hinges where all hinge lines of each body are concurrent. It is an important problem in biochemistry, as well as in robotics, to efficiently ...
    • Path planning for active tensegrity structures 

      Porta Pleite, Josep Maria; Hernández Juan, Sergi (2016-01-01)
      Article
      Accés obert
      This paper presents a path planning method for actuated tensegrity structures with quasi-static motion. The valid configurations for such structures lay on an equilibrium manifold, which is implicitly defined by a set of ...
    • Path planning in belief space with Pose SLAM 

      Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria (2011)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      The probabilistic belief networks that result from standard feature-based simultaneous localization and map building cannot be directly used to plan trajectories. The reason is that they produce a sparse graph of landmark ...
    • Path planning on manifolds using randomized higher-dimensional continuation 

      Porta Pleite, Josep Maria; Jaillet, Leonard Georges (Springer, 2010)
      Text en actes de congrés
      Accés obert
      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
      Accés obert
      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)
      Text en actes de congrés
      Accés obert
      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 ...
    • Path planning with pose SLAM 

      Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria (2010)
      Report de recerca
      Accés obert
      The probabilistic belief networks that result from standard feature-based simultaneous localization and map building (SLAM) approaches cannot be directly used to plan trajectories. The reason is that they produce a sparse ...
    • Planning reliable paths with Pose SLAM 

      Valencia Carreño, Rafael; Morta Garriga, Martí; Andrade-Cetto, Juan; Porta Pleite, Josep Maria (2013)
      Article
      Accés obert
      The maps that are built by standard feature-based simultaneous localization and mapping (SLAM) methods cannot be directly used to compute paths for navigation, unless enriched with obstacle or traversability information, ...
    • Planning singularity-free paths on closed-chain manipulators 

      Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2013)
      Article
      Accés obert
      This paper provides an algorithm for computing singularity-free paths on closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a path that maintains ...
    • Position analysis of a class of n-RRR planar parallel robots 

      Marchi, Tommaso; Mottola, Giovanni; Porta Pleite, Josep Maria; Thomas, Federico; Carricato, Marco (Springer, 2020)
      Capítol de llibre
      Accés obert
      Parallel robots with a configurable platform are a class of parallel robots in which the end-effector is a closed-loop kinematic chain. In n-RRR planar robots the end-effector is a n-bar chain controlled by 'n' actuated ...