KRD - Cinemàtica i Disseny de Robots
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.
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Articles de revista [21]
Recent Submissions
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A randomised kinodynamic planner for closed-chain robotic systems
(Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
Article
Open AccessKinodynamic 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
(Springer Nature, 2020)
Conference report
Open AccessDistance 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
(Springer, 2020)
Part of book or chapter of book
Open AccessParallel 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
(2007)
Conference report
Open AccessThis 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
(2007)
Conference report
Open AccessLandmark-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
(2007)
Conference report
Open AccessThe 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
(2007)
Conference report
Open AccessAs 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
(The MIT Press. Massachusetts Institute of Technology, 2017-01-01)
Article
Open AccessFunction 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
(Elsevier, 2019-04-20)
Article
Open AccessOne 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
(2019-03-01)
Article
Open AccessAn 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
(2018)
Conference report
Open AccessA 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
(2019)
External research report
Open AccessKinodynamic 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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