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

  • 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 ...
  • Further characterization of the zebrafish model of acrylamide acute neurotoxicity: gait abnormalities and oxidative stress 

    Faria, Melissa; Valls Brusco, Arnau; Prats Miravitllas, Eva; Bedrossiantz, Juliette; Orozco, Manuel; Porta Pleite, Josep Maria; Gómez Oliván, Leobardo Manuel; Raldúa Pérez, Demetrio José (Nature, 2019-05-08)
    Article
    Open Access
    Occupational, accidental, or suicidal exposure to acrylamide (ACR) may result in a neurotoxic syndrome. Development of animal models of acrylamide neurotoxicity is necessary for increasing our mechanistic understanding of ...
  • A fast branch-and-prune algorithm for the position analysis of spherical mechanisms 

    Shabani, Arya; Sarabandi, Soheil; Porta Pleite, Josep Maria; Thomas, Federico (Springer, 2019)
    Conference report
    Open Access
    Different 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 ...
  • On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices 

    Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (2019-05-09)
    Article
    Open Access
    A real orthogonal matrix representing a rotation in four dimensions can be decomposed into the commutative product of a left- and a right-isoclinic rotation matrix. This operation, known as Cayley's factorization, directly ...
  • A survey on the computation of quaternions from rotation matrices 

    Sarabandi, Soheil; Thomas, Federico (ASME PRESS, 2019-04-01)
    Article
    Open Access
    The 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 ...

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