Enviaments recents

  • Closed-form position analysis of variable geometry trusses 

    Porta Pleite, Josep Maria; Thomas, Federico (2017-03-01)
    Article
    Accés obert
    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
    Accés obert
    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
    Accés restringit per política de l'editorial
    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
    Accés obert
    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 ...
  • A bayesian approach to simultaneously recover camera pose and non-rigid shape from monocular images 

    Moreno-Noguer, Francesc; Porta Pleite, Josep Maria (2016)
    Article
    Accés obert
    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
    Accés obert
    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 ...
  • A matrix-based approach to the image moment problem 

    Martínez Bauzà, Judit; Porta Pleite, Josep Maria; Thomas, Federico (2006-11)
    Article
    Accés obert
    An image can be seen as an element of a vector space and hence it can be expressed in as a linear combination of the elements of any non necessarily orthogonal basis of this space. After giving a matrix formulation of this ...
  • Geometric path planning without maneuvers for nonholonomic parallel orienting robots 

    Grosch Obregón, Patrick John; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2016-07)
    Article
    Accés obert
    Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind ...
  • Path planning for active tensegrity structures 

    Porta Pleite, Josep Maria; Hernádez Juan, Sergi (2016-01-01)
    Article
    Accés obert
    This paper presents a path planning method for actuated tensegrity structures with quasi-static motion. The valid configurations for such structures lay on an equilibrium manifold, which is implicitly defined by a set of ...
  • Planning wrench-feasible motions for cable-driven hexapods 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2016-04-01)
    Article
    Accés obert
    Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack-to ...
  • Variable symmetry breaking in numerical constraint problems 

    Goldsztejn, Alexandre; Jermann, Christophe; Ruiz de Angulo García, Vicente; Torras, Carme (2015)
    Article
    Accés obert
    Symmetry breaking has been a hot topic of research in the past years, leading to many theoretical developments as well as strong scaling strategies for dealing with hard applications. Most of the research has however focused ...

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