Now showing items 1-20 of 54

  • A bayesian approach to simultaneously recover camera pose and non-rigid shape from monocular images 

    Moreno-Noguer, Francesc; Porta Pleite, Josep Maria (2016)
    Article
    Open Access
    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 ...
  • 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 Access
    The 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 multi-loop linkages 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2008)
    External research report
    Open Access
    This report presents a new method able to isolate all configurations that a multi-loop 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 Access
    This 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 matrix-based approach to the image moment problem 

    Martínez Bauzà, Judit; Porta Pleite, Josep Maria; Thomas, Federico (2006-11)
    Article
    Open Access
    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 ...
  • Amortized constant time estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter 

    Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2011)
    Article
    Open Access
    The computational bottleneck in all information-based 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 Kalman-information filter 

    Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2009)
    Conference lecture
    Open Access
    The 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 open-source toolbox for motion analysis of closed-chain 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 Access
    Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), ...
  • A reconfigurable asymmetric 3-UPU parallel robot 

    Sarabandi, Soheil; Grosch Obregon, Patrick John; Porta Pleite, Josep Maria; Thomas, Federico (2018)
    Conference report
    Open Access
    Parallel 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 singularity-free path planner for closed-chain manipulators 

    Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Porta Pleite, Josep Maria (IEEE, 2012)
    Conference report
    Open Access
    This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a ...
  • A singularity-robust 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 Access
    Parallel robots exhibit the so-called forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularity-free ...
  • 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 Access
    This paper introduces box approximations as a new tool for path planning of closed-loop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. ...
  • Asymptotically-optimal path planning on manifolds 

    Jaillet, Leonard Georges; Porta Pleite, Josep Maria (2012)
    Conference report
    Open Access
    This paper presents an approach for optimal path planning on implicitly-defined 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 Access
    This 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 ...
  • Closed-form position analysis of variable geometry trusses 

    Porta Pleite, Josep Maria; Thomas, Federico (2017-03-01)
    Article
    Open Access
    Variable 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 Access
    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, ...
  • Complete maps of molecular-loop 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 Access
    This paper presents a numerical method to compute all possible conformations of distance-constrained 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 Access
    The resection problem consists in finding the location of an observer by measuring the angles sub-tended 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 Access
    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 ...