Browsing by Author "Porta Pleite, Josep Maria"

A bayesian approach to simultaneously recover camera pose and nonrigid shape from monocular images
MorenoNoguer, Francesc; Porta Pleite, Josep Maria (2016)
Article
Open AccessIn 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 nonrigid surfaces and the sequence ... 
A general method for the numerical computation of manipulator singularity sets
Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2014)
Article
Open AccessThe analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of ... 
A linear relaxation technique for the position analysis of multiloop linkages
Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2008)
External research report
Open AccessThis report presents a new method able to isolate all configurations that a multiloop linkage can adopt. We tackle the problem by providing formulation and resolution techniques that fit particularly well together. The ... 
A linear relaxation technique for the position analysis of multiloop linkages
Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2009)
Article
Open AccessThis paper presents a new method to isolate all configurations that a multiloop linkage can adopt. The problem is tackled by means of formulation and resolution techniques that fit particularly well together. The adopted ... 
A matrixbased approach to the image moment problem
Martínez Bauzà, Judit; Porta Pleite, Josep Maria; Thomas, Federico (200611)
Article
Open AccessAn 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 ... 
Amortized constant time estimation in Pose SLAM and hierarchical SLAM using a mixed Kalmaninformation filter
Ila, Viorela Simona; Porta Pleite, Josep Maria; AndradeCetto, Juan (2011)
Article
Open AccessThe computational bottleneck in all informationbased algorithms for simultaneous localization and mapping (SLAM) is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the ... 
Amortized constant time state estimation in SLAM using a mixed Kalmaninformation filter
Ila, Viorela Simona; Porta Pleite, Josep Maria; AndradeCetto, Juan (2009)
Conference lecture
Open AccessThe computational bottleneck in all informationbased algorithms for SLAM is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the covariance is needed to generate data ... 
Análisis comparativo del test de Bosco con técnicas de video en 3D (Peak Performance)
Morgenstern de Muller, Christian Rudolf; Porta Pleite, Josep Maria; Parreño Catalán, José Luis; Ruano Gil, D. (Sociedad Ibérica de Biomecánica y Biomateriales, 1993)
Article
Open Access 
An opensource toolbox for motion analysis of closedchain 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 AccessMany situations in Robotics require an effective analysis of the motions of a closedchain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), ... 
A reconfigurable asymmetric 3UPU parallel robot
Sarabandi, Soheil; Grosch Obregon, Patrick John; Porta Pleite, Josep Maria; Thomas, Federico (2018)
Conference report
Open AccessParallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Nevertheless, some ... 
A singularityfree path planner for closedchain manipulators
Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Porta Pleite, Josep Maria (IEEE, 2012)
Conference report
Open AccessThis paper provides an algorithm for computing singularityfree paths on nonredundant closedchain manipulators. Given two nonsingular configurations of the manipulator, the method attempts to connect them through a ... 
A singularityrobust LQR controller for parallel robots
Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Institute of Electrical and Electronics Engineers (IEEE), 2018)
Conference report
Open AccessParallel robots exhibit the socalled forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularityfree ... 
A space decomposition method for path planning of loop linkages
Porta Pleite, Josep Maria; Cortes, Juan; Ros Giralt, Lluís; Thomas, Federico (IEEE, 2007)
Conference report
Open AccessThis paper introduces box approximations as a new tool for path planning of closedloop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. ... 
Asymptoticallyoptimal path planning on manifolds
Jaillet, Leonard Georges; Porta Pleite, Josep Maria (2012)
Conference report
Open AccessThis paper presents an approach for optimal path planning on implicitlydefined configuration spaces such as those arising, for instance, when manipulating an object with two arms or with a multifingered hand. In this kind ... 
Box approximations of planar linkage configuration spaces
Porta Pleite, Josep Maria; Ros Giralt, Lluís; Creemers, Tom Lambert; Thomas, Federico (ASME International, 2007)
Article
Open AccessThis paper presents a numerical method able to compute all possible configurations of planar linkages. The procedure is applicable to rigid linkages (i.e., those that can only adopt a finite number of configurations) and ... 
Closedform position analysis of variable geometry trusses
Porta Pleite, Josep Maria; Thomas, Federico (20170301)
Article
Open AccessVariable geometry trusses are composed, in general, of unit cells which can be modeled as bars connected by spherical joints. Under mild conditions, it has been shown that the only feasible cells are topologically equivalent ... 
Closure polynomials for strips of tetrahedra
Thomas, Federico; Porta Pleite, Josep Maria (Springer, 2016)
Conference report
Open AccessA tetrahedral strip is a tetrahedrontetrahedron 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, ... 
Complete maps of molecularloop conformational spaces
Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico; Corcho Sánchez, Francisco José; Cantó Silva, Josep; Pérez, Juan J. (John Wiley & Sons, Inc., 2007)
Article
Open AccessThis paper presents a numerical method to compute all possible conformations of distanceconstrained molecular loops, i.e., loops where some interatomic distances are held fixed, while others can vary. The method is general ... 
Concise proof of Tienstra's formula
Porta Pleite, Josep Maria; Thomas, Federico (2009)
Article
Open AccessThe resection problem consists in finding the location of an observer by measuring the angles subtended by lines of sight from this observer to three known stations. Many researchers and practitioners recognize that ... 
Distance bound smoothing under orientation constraints
Rull Sanahuja, Aleix; Porta Pleite, Josep Maria; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference report
Open AccessDistance 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 ...