Exploració per autor "Porta Pleite, Josep Maria"
Ara es mostren els items 44-63 de 72
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Numerical computation of manipulator singularities
(IEEE, 2012)
Text en actes de congrés
Accés obertThis 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
(Springer, 2013)
Text en actes de congrés
Accés obertA 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
(2016-01-01)
Article
Accés obertThis 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
(2011)
Text en actes de congrés
Accés restringit per política de l'editorialThe 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
(Springer, 2010)
Text en actes de congrés
Accés obertDespite 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
(2013)
Article
Accés obertThe 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
(Springer, 2011)
Text en actes de congrés
Accés obertIn 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
(2010)
Report de recerca
Accés obertThe 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
(2013)
Article
Accés obertThe 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
(2013)
Article
Accés obertThis 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
(Springer, 2020)
Capítol de llibre
Accés obertParallel 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 ... -
Position and singularity analysis of a class of planar parallel manipulators with a reconfigurable end-effector
(2021)
Article
Accés obertParallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic ... -
Probabilistic simultaneous pose and non-rigid shape recovery
(2011)
Text en actes de congrés
Accés obertWe present an algorithm to simultaneously recover non-rigid shape and camera poses from point correspondences between a reference shape and a sequence of input images. The key novel contribution of our approach is in ... -
Randomized kinodynamic planning for cable-suspended parallel robots
(Springer, 2017)
Text en actes de congrés
Accés obertThis paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and ... -
Randomized kinodynamic planning for constrained systems
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertKinodynamic RRT planners are considered to be general tools for effectively finding feasible trajectories for high-dimensional dynamical systems. However, they struggle when holonomic constraints are present in the system, ... -
Randomized path planning on manifolds based on higher-dimensional continuation
(2012)
Article
Accés obertDespite 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 planning of dynamic motions avoiding forward singularities
(Springer International Publishing, 2018)
Text en actes de congrés
Accés obertForward singularities, also known as direct, or actuator singularities, cause many problems to the planning and control of robot motions. They yield position errors and rigidity losses of the robot, and generate unbounded ... -
Reduced state representation in delayed-state SLAM
(IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
Comunicació de congrés
Accés obertThis paper introduces an approach that reduces the size of the state and maximizes the sparsity of the information matrix in exactly sparse delayed-state SLAM. We propose constant time procedures to measure the ... -
Rigid-CLL: avoiding constant-distance computations in cell linked-lists algorithms
(2012-01-30)
Article
Accés obertMany of the existing molecular simulation tools require the efficient identification of the set of nonbonded interacting atoms. This is necessary, for instance, to compute the energy values or the steric contacts between ... -
Sensor localization from distance and orientation constraints
(2016)
Article
Accés obertThe sensor localization problem can be formalized using distance and orientation constraints, typically in 3D. Local methods can be used to refine an initial location estimation, but in many cases such estimation is not ...
