Now showing items 13-24 of 31

  • 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 ...
  • Distance geometry in active structures 

    Porta Pleite, Josep Maria; Rojas Librero, Nicolás Enrique; Thomas, Federico (Springer, 2018)
    Part of book or chapter of book
    Open Access
    Distance constraints are an emerging formulation that offers intuitive geometrical interpretation of otherwise complex problems. The formulation can be applied in problems such as position and singularity analysis and path ...
  • Randomized kinodynamic planning for cable-suspended parallel robots 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Springer, 2017)
    Conference report
    Open Access
    This paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position 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 ...
  • Uncalibrated visual servo for unmanned aerial manipulation 

    Santamaria Navarro, Àngel; Grosch Obregon, Patrick John; Lippiello, Vincenzo; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
    Article
    Open Access
    This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to ...
  • New algebraic conditions for the identification of the relative position of two coplanar ellipses 

    Alberich Carramiñana, Maria; Elizalde, Borja; Thomas, Federico (2017-05-01)
    Article
    Open Access
    The identification of the relative position of two real coplanar ellipses can be reduced to the identification of the nature of the singular conics in the pencil they define and, in general, their location with respect to ...
  • On Cayley's factorization of 4D rotations and applications 

    Pérez Gracia, Alba; Thomas, Federico (2017-03-01)
    Article
    Open Access
    A 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ...
  • Kinodynamic planning on constraint manifolds 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2017)
    External research report
    Open Access
    This report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ...
  • 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, ...
  • On quartically-solvable robots 

    Rojas Librero, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Open Access
    This paper presents a first attempt at a unified kinematics analysis of all serial and parallel solvable robots, that is, robots whose position analysis can be carried out without relying on numerical methods. The efforts ...
  • 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 ...
  • Sensor localization from distance and orientation constraints 

    Porta Pleite, Josep Maria; Rull Sanahuja, Aleix; Thomas, Federico (2016)
    Article
    Open Access
    The sensor localization problem can be formalized using distance and orientation constraints, typically in 3D. Local methods can be used to refine an initial location estimation, but in many cases such estimation is not ...