El grup estudia el comportament dels mecanismes articulats i la planificació, simulació i el control eficient i segur dels moviments d'aquests sistemes. Tots aquests aspectes són esencials per poder desenvolupar els robots cada vegada més complexos d'avui en dia, que s'han de dissenyar de forma que operin en els espais de treball pre-establerts, que han de manipular objectes de forma destra i que han d'evitar en tot moment les configuracions singulars i les col·lisions amb l'entorn.

http://futur.upc.edu/KRD

Enviaments recents

  • 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 ...
  • Closure polynomials for strips of tetrahedra 

    Thomas, Federico; Porta Pleite, Josep Maria (Springer, 2016)
    Text en actes de congrés
    Accés obert
    A tetrahedral strip is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. Unless any of the tetrahedra degenerate, such a truss is rigid. In this case, ...
  • On quartically-solvable robots 

    Rojas Librero, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Text en actes de congrés
    Accés obert
    This paper presents a first attempt at a unified kinematics analysis of all serial and parallel solvable robots, that is, robots whose position analysis can be carried out without relying on numerical methods. The efforts ...
  • A bayesian approach to simultaneously recover camera pose and non-rigid shape from monocular images 

    Moreno-Noguer, Francesc; Porta Pleite, Josep Maria (2016)
    Article
    Accés obert
    In this paper we bring the tools of the Simultaneous Localization and Map Building (SLAM) problem from a rigid to a deformable domain and use them to simultaneously recover the 3D shape of non-rigid surfaces and the sequence ...
  • Sensor localization from distance and orientation constraints 

    Porta Pleite, Josep Maria; Rull Sanahuja, Aleix; Thomas, Federico (2016)
    Article
    Accés obert
    The 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 ...
  • A matrix-based approach to the image moment problem 

    Martínez Bauzà, Judit; Porta Pleite, Josep Maria; Thomas, Federico (2006-11)
    Article
    Accés obert
    An image can be seen as an element of a vector space and hence it can be expressed in as a linear combination of the elements of any non necessarily orthogonal basis of this space. After giving a matrix formulation of this ...
  • Geometric path planning without maneuvers for nonholonomic parallel orienting robots 

    Grosch Obregón, Patrick John; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2016-07)
    Article
    Accés obert
    Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind ...
  • Path planning for active tensegrity structures 

    Porta Pleite, Josep Maria; Hernádez Juan, Sergi (2016-01-01)
    Article
    Accés restringit per política de l'editorial
    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 ...
  • Sistemes multi-agent 

    Golobardes Ribé, Elisabet; Pérez Quiroga, Javier; Porta Pleite, Josep Maria (1997-05-06)
    Report de recerca
    Accés obert
    In the last years a growing interest has arisen around a new paradigm called (among other names) Agents or Multi-Agents Systems. Its popularity has increased to the point that nowadays almost everyone working in Artificial ...
  • Planning wrench-feasible motions for cable-driven hexapods 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2016-04-01)
    Article
    Accés obert
    Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack-to ...
  • Variable symmetry breaking in numerical constraint problems 

    Goldsztejn, Alexandre; Jermann, Christophe; Ruiz de Angulo García, Vicente; Torras, Carme (2015)
    Article
    Accés obert
    Symmetry breaking has been a hot topic of research in the past years, leading to many theoretical developments as well as strong scaling strategies for dealing with hard applications. Most of the research has however focused ...
  • Distance bound smoothing under orientation constraints 

    Rull Sanahuja, Aleix; Porta Pleite, Josep Maria; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Text en actes de congrés
    Accés obert
    Distance Bound Smoothing (DBS) is a basic operation originally developed in Computational Chemistry to determine point configurations that are within certain pairwise ranges of distances. This operation consist in the ...

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