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.

Recent Submissions

  • A randomised kinodynamic planner for closed-chain robotic systems 

    Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
    Article
    Open Access
    Kinodynamic 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, ...
  • Clifford’s identity and generalized Cayley-Menger determinants 

    Thomas, Federico; Porta Pleite, Josep Maria (Springer Nature, 2020)
    Conference report
    Open Access
    Distance 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 ...
  • Position analysis of a class of n-RRR planar parallel robots 

    Marchi, Tommaso; Mottola, Giovanni; Porta Pleite, Josep Maria; Thomas, Federico; Carricato, Marco (Springer, 2020)
    Part of book or chapter of book
    Open Access
    Parallel robots with a configurable platform are a class of parallel robots in which the end-effector is a closed-loop kinematic chain. In n-RRR planar robots the end-effector is a n-bar chain controlled by 'n' actuated ...
  • A space decomposition method for path planning of loop linkages 

    Porta Pleite, Josep Maria; Cortés, Juan; Ros Giralt, Lluís; Thomas, Federico (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. ...
  • Visually-guided robot navigation: from artificial to natural landmarks 

    Celaya Llover, Enric; Albarral Garcia, Jose Luis; Jimenez Schlegl, Pablo; Torras, Carme (2007)
    Conference report
    Open Access
    Landmark-based navigation in unknown unstructured environments is far from solved. The bottleneck nowadays seems to be the fast detection of reliable visual references in the image stream as the robot moves. In our research, ...
  • Natural landmark detection for visually-guided robot navigation 

    Celaya Llover, Enric; Albarral Garcia, Jose Luis; Jimenez Schlegl, Pablo; Torras, Carme (2007)
    Conference report
    Open Access
    The main difficulty to attain fully autonomous robot navigation outdoors is the fast detection of reliable visual references, and their subsequent characterization as landmarks for immediate and unambiguous recognition. ...
  • Exploiting single-cycle symmetries in branch-and-prune algorithms 

    Ruiz de Angulo García, Vicente; Torras, Carme (2007)
    Conference report
    Open Access
    As a first attempt to exploit symmetries in continuous constraint problems, we focus on permutations of the variables consisting of one single cycle. We propose a procedure that takes advantage of these symmetries by ...
  • Online reinforcement learning using a probability density estimation 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric (The MIT Press. Massachusetts Institute of Technology, 2017-01-01)
    Article
    Open Access
    Function approximation in online, incremental, reinforcement learning needs to deal with two fundamental problems: biased sampling and nonstationarity. In this kind of task, biased sampling occurs because samples are ...
  • Using a new high-throughput video-tracking platform to assess behavioural changes in Daphnia magna exposed to neuro-active drugs 

    Simão, Fátima C.P.; Martínez Jerónimo, Fernando; Blasco Gutiérrez, Víctor; Moreno-Noguer, Francesc; Porta Pleite, Josep Maria; Pestana, Joao; Soarez, Amadeu; Raldúa Pérez, Demetrio José; Barata Martí, Carlos (Elsevier, 2019-04-20)
    Article
    Open Access
    One of the major challenges that faces today regulatory risk assessment is to speed up the way of assessing threshold sublethal detrimental effects of existing and new chemical products. Recently advances in imaging allows ...
  • Solution intervals for variables in spatial RCRCR linkages 

    Celaya Llover, Enric (2019-03-01)
    Article
    Open Access
    An analytic method to compute the solution intervals for the input variables of spatial RCRCR linkages and their inversions is presented. The input-output equation is formulated as the intersection of a single ellipse with ...
  • Singularity-free computation of quaternions from rotation matrices in E4 and E3 

    Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (2018)
    Conference report
    Open Access
    A real orthogonal matrix representing a rotation in E4 can be decomposed into the commutative product of a left-isoclinic and a right-isoclinic rotation matrix. The double quaternion representation of rotations in E4 follows ...
  • A randomized kinodynamic planner for closed-chain robotic systems 

    Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (2019)
    External research report
    Open Access
    Kinodynamic 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 ...

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