Exploració per autor "Borràs Sol, Júlia"Més informació

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    • Singularity-invariant families of line-plane 5-SPU platforms 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2011-10)
      Article
      Accés obert
      A 5-SPU robot with collinear universal joints is well suited to handling an axisymmetric tool, since it has 5 controllable DoFs and the remaining one is a free rotation around the tool. The kinematics of such a robot ...

    • Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2010)
      Text en actes de congrés
      Accés obert
      In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements ...

    • Singularity-invariant leg rearrangements in Stewart-Gough platforms 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (Springer Verlag, 2010)
      Text en actes de congrés
      Accés obert

    • Singularity-invariant leg substitutions in pentapods 

      Borràs Sol, Júlia; Thomas, Federico (2010)
      Text en actes de congrés
      Accés obert
      A pentapod is usually defined as a 5-degree-offreedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators have revealed as an interesting alternative to serial robots handling ...

    • Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (Springer Verlag, 2009)
      Text en actes de congrés
      Accés obert
      An algorithm to derive the pure condition of any double-planar Stewart-Gough platform in a standard form suitable for comparison is presented. By applying the multilinear properties of brackets directly to the superbracket ...

    • Task-adaptive robot learning from demonstration with gaussian process models under replication 

      Arduengo García, Miguel; Colomé Figueras, Adrià; Borràs Sol, Júlia; Sentís Álvarez, Luis; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2021)
      Article
      Accés obert
      Learning from Demonstration (LfD) is a paradigm that allows robots to learn complex manipulation tasks that can not be easily scripted, but can be demonstrated by a human teacher. One of the challenges of LfD is to enable ...

    • The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm 

      Borràs Sol, Júlia; Heudorfer, Raphael; Rader, Samuel; Asfour, Tamim (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Text en actes de congrés
      Accés obert
      This work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without ...

    • The octahedral manipulator revisited 

      Rojas Libreros, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (IEEE, 2012)
      Text en actes de congrés
      Accés obert
      In most practical implementations of the Gough- Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particula r instance of the Gough-Stewart platform, commonly ...