Exploració per altres contribucions "Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots"
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A bayesian approach to simultaneously recover camera pose and non-rigid shape from monocular images
(2016)
Article
Accés obertIn 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 branch-and-prune method to solve closure equations in dual quaternions
(2021)
Article
Accés obertUsing dual quaternions, the closure equations of a kinematic loop can be expressed as a system of multiaffine quations. In this paper, this property is leveraged to introduce a branch-and-prune method specially tailored ... -
A Convolutional Neural Network for the automatic diagnosis of collagen VI-related muscular dystrophies
(2019-12-01)
Article
Accés obertThe development of machine learning systems for the diagnosis of rare diseases is challenging, mainly due to the lack of data to study them. This paper surmounts this obstacle and presents the first Computer-Aided Diagnosis ... -
A distance geometry approach to the singularity analysis of 3R robots
(ASME PRESS, 2015)
Article
Accés restringit per política de l'editorialThis paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective ... -
A fast branch-and-prune algorithm for the position analysis of spherical mechanisms
(Springer, 2019)
Text en actes de congrés
Accés obertDifferent branch-and-prune schemes can be found in the literature for numerically solving the position analysis of spherical mechanisms. For the prune operation, they all rely on the propagation of motion intervals. They ... -
A matrix-based approach to the image moment problem
(2006-11)
Article
Accés obertAn 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 ... -
A modification of collocation methods to ensure compatible position and velocity trajectories. Documento técnico del Instituto de Robótica e Informática Industrial
(2021-05-26)
Report de recerca
Accés obert -
A new insight into the coupler curves of the RCCC four-bar linkage
(Springer, 2017)
Text en actes de congrés
Accés obertBased on the condition for four points to lie on the unit sphere, derived using Distance Geometry, a new mathematical formulation for the coupler curves of the RCCC linkage is presented. The relevance of this formulation ... -
A randomised kinodynamic planner for closed-chain robotic systems
(Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
Article
Accés obertKinodynamic rapidly-exploring random tree (RRT) planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, ... -
A randomized kinodynamic planner for closed-chain robotic systems
(2019)
Report de recerca
Accés obertKinodynamic RRT planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, cooperating ... -
A reconfigurable asymmetric 3-UPU parallel robot
(2018)
Text en actes de congrés
Accés obertParallel 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-robust LQR controller for parallel robots
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertParallel 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
(2007)
Text en actes de congrés
Accés obertThis 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. ... -
A survey on the computation of quaternions from rotation matrices
(ASME PRESS, 2019-04-01)
Article
Accés obertThe parameterization of rotations is a central topic in many theoretical and applied fields such as rigid body mechanics, multibody dynamics, robotics, spacecraft attitude dynamics, navigation, 3D image processing, computer ... -
A unified position analysis of the Dixon and the generalized Peaucellier linkages
(2015-12-01)
Article
Accés obertThis paper shows how, using elementary Distance Geometry, a closure polynomial of degree 8 for the Dixon linkage can be derived without any trigonometric substitution, variable elimination, or artifice to collapse mirror ... -
Accurate computation of quaternions from rotation matrices
(Springer International Publishing, 2018)
Text en actes de congrés
Accés obertThe main non-singular alternative to 3×3 proper orthogonal matrices, for representing rotations in R3, is quaternions. Thus, it is important to have reliable methods to pass from one representation to the other. While ... -
Androgenic activation, impairment of the monoaminergic system and altered behavior in zebrafish larvae exposed to environmental concentrations of fenitrothion
(Elsevier, 2021)
Article
Accés obertFenitrothion is an organophosphorus insecticide usually found in aquatic ecosystems at concentrations in the range of low ng/L. In this manuscript we show that 24 h exposure to environmental concentrations of fenitrothion, ... -
Clifford’s identity and generalized Cayley-Menger determinants
(Springer Nature, 2020)
Text en actes de congrés
Accés obertDistance geometry is usually defined as the characterization and study of point sets in Rk, the k-dimensional Euclidean space, based on the pairwise distances between their points. In this paper, we use Clifford’s identity ... -
Closed-form position analysis of variable geometry trusses
(2017-03-01)
Article
Accés obertVariable 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
(Springer, 2016)
Text en actes de congrés
Accés obertA 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, ...
