Recent Submissions

  • Collocation methods for second order systems 

    Moreno Martín, Siro; Ros Giralt, Lluís; Celaya Llover, Enric (2022)
    Conference report
    Open Access
    Collocation methods for numerical optimal control commonly assume that the system dynamics is expressed as a first order ODE of the form x¿ = f(x, u, t), where x is the state and u the control vector. However, in many ...
  • Kinematics of a gear-based spherical mechanism 

    Thomas, Federico (Springer, 2022)
    Conference report
    Restricted access - publisher's policy
    Kazuki Abe and his collaborators have recently presented an actuated gear-based spherical mechanism called ABENICS. It has received a lot of attention, not only because of its eye-catching motions during operation, but ...
  • The distance geometry of the generalized lobster’s arm 

    Thomas, Federico; Porta Pleite, Josep Maria (Springer, 2022)
    Conference report
    Restricted access - publisher's policy
    This paper proposes a distance-based formulation to solve the inverse kinematics of what is known as the generalized Lobster's arm: a 6R serial chain in which all consecutive revolute axes intersect. Since the solution of ...
  • Model predictive control for a Mecanum-wheeled robot navigating among obstacles 

    Moreno Caireta, Iñigo; Celaya Llover, Enric; Ros Giralt, Lluís (Elsevier, 2021)
    Conference report
    Open Access
    Mecanum-wheeled robots have been thoroughly used to automate tasks in many different applications. However, they are usually controlled by neglecting their dynamics and relying only on their kinematic model. In this paper, ...
  • 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 ...
  • 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; Jiménez 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; Jiménez 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 ...
  • 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 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 ...
  • Forward kinematics of the general triple-arm robot using a distance-based formulation 

    Rojas, Nicolas; Thomas, Federico (Springer, 2017)
    Conference report
    Open Access
    Distance-based formulations have successfully been used to obtain closure polynomialsfor planar mechanisms without relying, in most cases, on variable eliminations. The methods re-sulting from previous attempts to generalize ...

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