International
Publications
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"Que otros se jacten de las
páginas que han escrito;
a mí me enorgullecen las que he
leído"
Jorge
Luis Borges, Elogio de la Sombra (1969)
"Il n'y a de vraiment beau
que ce qui ne peut servir à rien;
tout ce qui
est utile est laid, car c'est l'expression de quelque
besoin,
et ceux de l'homme sont ignobles et dégoûtants, comme sa
pauvre et infirme nature"
Théophile
Gautier, Mademoiselle
de Maupin (1880)
In the pipeline
- F. Thomas, "James J. Sylvester
and the Involution of Six Lines".
- A. Pech, M. Alberich, and F.
Thomas, "Planar Zig-Zag Linkages, Chebyshev Polynomials,
Fourier Series, and the Roots of Polynomials".
- F. Thomas and A.B. Martínez,
"Advanced Topics in Robot Kinematics Using MATLAB".
- F. Thomas and B. Bongardt,
"Ellipse Distance Geometry and the Design of 3R Robots".
- B. Bongardt and F. Thomas, "On
Ellipse Intersections by Means of Distance Geometry".
2023
- S. Sarabandi and F. Thomas, "Solution Methods to the Nearest
Rotation Matrix Problem in R^3: A Comparative Survey,"
Numerical Linear Algebra with Applications, to appear, 2023.
DOI: 10.1002/nla.2492
- F. Thomas, "New Bracket Polynomials Associated with the
General Gough-Stewart Parallel Robot Singularities," IEEE
International Conference on Robotics and Automation, ICRA
2023, May 29 - Jun 2, 2023, London, UK.
2022
- S. Sarabandi and F. Thomas, "Approximating Displacements in
R^3 by Rotations in R^4 and its Application to Pointcloud
Registration," IEEE Transactions on Robotics, Vol. 38,
No. 4, pp. 2652-2664, º2022. DOI: 10.1109/TRO.2021.3128328.
- S. Sarabandi, J.M. Porta, and F. Thomas, "Hand-Eye
Calibration Made Easy through a Closed-Form Two-Stage Method,"
IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp.
3679-3686, 2022. DOI: 10.1109/LRA.2022.3146943
- F. Thomas, "Kinematics of a Gear-Based Spherical Mechanism,"
In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot
Kinematics 2022. ARK 2022. Springer Proceedings in Advanced
Robotics, vol 24. Springer, Cham. DOI:
10.1007/978-3-031-08140-8_35. Best paper award. Simulation.
- F. Thomas and J. M. Porta, "The Distance Geometry of the
Generalized Lobster's Arm," In: Altuzarra, O., Kecskeméthy, A.
(eds) Advances in Robot Kinematics 2022. ARK 2022. Springer
Proceedings in Advanced Robotics, vol 24. Springer, Cham. DOI:
10.1007/978-3-031-08140-8_44
- S. Sarabandi and F. Thomas, "On closed-form
solutions to the 4D nearest rotation matrix problem,"
Mathematical Methods in the Applied Sciences, 2022. DOI:
10.1002/mma.8524
2021
- T. Marchi, G. Mottola, J. M. Porta, F. Thomas, and M.
Carricato, “Position
and Singularity Analysis of a Class of Planar Parallel
Manipulators with a Reconfigurable End-Effector,”
Machines, Vol. 9, No. 1, pp. 7, 2021. DOI:
10.3390/machines9010007
- A. Shabani, J.M. Porta, and F. Thomas, "A Branch-and-Prune
Method to Solve Closure Equations in Dual Quaternions,"
Mechanism and Machine Theory, Vol. 164, pp. 104424,
2021. DOI: 10.1016/j.mechmachtheory.2021.104424
- S. Sarabandi and F. Thomas, "On Closed-Form Solutions to the
4D Nearest Rotation Matrix Problem," 8th Conference on Applied
Geometric Algebras in Computer Science and Engineering (AGACSE
2021), Brno, Czech Republic, September 6-10, 2021.
- S. Sarabandi and F. Thomas, "A Spectral Decomposition
Approach to the Accurate Conversion of 4D Rotation Matrices to
Double Quaternions," 8th Conference on Applied Geometric
Algebras in Computer Science and Engineering (AGACSE 2021),
Brno, Czech Republic, September 6-10, 2021.
2020
- S. Sarabandi, A. Shabani, J.M. Porta, and F. Thomas, "On Closed-Form Formulas
for the 3D Nearest Rotation Matrix Problem," IEEE
Transactions on Robotics, Vol. 36, No. 4, pp. 1333-1339, 2020.
(Matlab and C++
code). DOI: 10.1109/TRO.2020.2973072
- F. Thomas and J.M. Porta, "Clifford's Identity and
Generalized Cayley-Menger Determinants," 17th International
Symposium on Advances in Robot Kinematics, Ljubljana,
Slovenia, June 28 - July 2, 2020. DOI:
10.1007/978-3-030-50975-0_35
- T. Marchi, G. Mottola, J. M. Porta, F. Thomas, and M.
Carricato, “Position Analysis of a Class of n-RRR Planar
Parallel Robots,” 3rd International Conference of IFToMM Italy
(IFIT2020), Naples, Italy, 9–11 September 2020. (awarded with
the Student Gold Award at IFIT2020). DOI:
10.1007/978-3-030-55807-9_40
2019
- S. Sarabandi and F. Thomas, "A
Survey on the Computation of Quaternions from Rotation
Matrices," ASME Journal of Mechanisms and Robotics, Vol.
11, No. 2, 021006,
2019 (Matlab code).
DOI: 10.1115/1.4041889
- P. Grosch and F. Thomas, "Parallel
Robots with Unconventional Joints," Springer, 2019.
ISBN: 978-3-030-11304-9
- S. Sarabandi, A. Pérez-Gracia, and F. Thomas, "On Cayley's Factorization
with an Application to the Orthonormalization of Noisy
Rotation Matrices," Advances in Applied Clifford
Algebras, pp. 29-49, July 2019. DOI:
10.1007/s00006-019-0965-0
- A. Shabani, S. Sarabandi, J.M. Porta, and F. Thomas, "A Fast Branch-and-Prune
Algorithm for the Position Analysis of Spherical Mechanisms,"
In: Uhl T. (eds) Advances in Mechanism and Machine Science.
IFToMM WC 2019. Mechanisms and Machine Science, Vol 73, pp
549-558, Springer, Cham, 2019. DOI:
10.1007/978-3-030-20131-9_55
2018
- J.M. Porta and F. Thomas, "Yet
Another Approach to the Gough-Stewart Platform Forward
Kinematics," Proc. of the IEEE International Conference
in Robotics and Automation, Brisbane, Australia, 2018. DOI:
10.1109/ICRA.2018.8460900
- A. Makhal, F. Thomas, and A. Pérez-Gracia, "Grasping Unknown Objects in
Clutter by Superquadric Representation," Proc. of the
IEEE International Conference on Robotic Computing, Laguna
Hills, CA, USA, 2018. DOI: 10.1109/IRC.2018.00062
- S. Sarabandi and F. Thomas, "Accurate
Computation of Quaternions from Rotation Matrices,"
Proc. of the 16th International Symposium on Advances in Robot
Kinematics, Bologna, Italy., 1-4 July, 2018. DOI:
10.1007/978-3-319-93188-3_5
- J.M. Porta and F. Thomas, "The
Forward Kinematics of Doubly-Planar Gough-Stewart Platforms
and the Position Analysis of Strips of Tetrahedra,"
Proc. of the 16th International Symposium on Advances in Robot
Kinematics, 1-4 July, Bologna, Italy, 2018. DOI:
10.1007/978-3-319-93188-3_15
- S. Sarabandi, P. Grosch, J.M. Porta, and F. Thomas, "A Reconfigurable Asymmetric 3-UPU
Parallel Robot," 4th IEEE/IFToMM Int. Conf. on
Reconfigurable Mechanisms and Robots, Delft, The Netherlands,
20-22 June, 2018. DOI: 10.1109/REMAR.2018.8449859
- S. Sarabandi, A. Pérez-Gracia, and F. Thomas, "Singularity-Free Computation of
Quaternions from Rotation Matrices in E^4 and E^3," 7th
Conference on Applied Geometric Algebras in Computer Science
and Engineering (AGACSE 2018), Campinas, Brazil, 23-27 July,
2018.
- J.M. Porta, S. Sarabandi, and F. Thomas, "Angle-Bound Smoothing with
Applications in Kinematics," IFToMM Asian Mechanism and
Machine Science (Asian MMS 2018), Bengaluru, India, December
17-20, 2018. DOI: 10.1007/978-981-15-4477-4_53
2017
- J.M. Porta and F. Thomas, "Closed-Form Position Analysis of
Variable Geometry Trusses," Mechanism and Machine
Theory, Vol 109, pp. 14–21, 2017. DOI:
10.1016/j.mechmachtheory.2016.11.004
- J.M. Porta, N. Rojas, and F.
Thomas, "Distance Geometry in Active Structures," in
Mechatronics for Cultural Heritage and Civil Engineering, Springer ISCA
Bookseries, 2017. DOI: 10.1007/978-3-319-68646-2_5
- F. Thomas and A. Pérez-Gracia, "A New Insight into the Coupler
Curves of the RCCC Four-Bar Linkage," 7th IFToMM
International Workshop on Computational Kinematics, Poitiers,
France, May 22-24, 2017. (Presentation)
DOI: 10.1007/978-3-319-60867-9_63
- N. Rojas and F. Thomas, "Forward Kinematics of the General
Triple-Arm Robot Using a Distance-Based Formulation,"
7th IFToMM International Workshop on Computational Kinematics,
Poitiers, France, May 22-24, 2017. DOI:
10.1007/978-3-319-60867-9_29
- A. Pérez-Gracia and F. Thomas,
"On Cayley's Factorization of 4D Rotations and Applications,"
Advances in Applied Clifford Algebras, Vol. 27, No. 1, pp 523–538, 2017. (A
related presentation) DOI: 10.1007/s00006-016-0683-9
- M. Alberich-Carramiñana, B.
Elizalde, and F. Thomas, "New
Algebraic Conditions for the Identification of the Relative
Position of Two Coplanar Ellipses," Computer Aided
Geometric Design, Vol. 54, pp. 35-48, 2017. DOI:
10.1016/j.cagd.2017.03.013
- F. Thomas and A. Pérez-Gracia, "Some New Results in the
Kinematics of 3R Robots Using Nested Determinants,"ASME
2017 International Design Engineering Technical Conferences
& Computers and Information in Engineering Conference
(IDETC/CIE 2017), Cleveland, Ohio, USA, 2017. DOI:
10.1115/DETC2017-67706
2016
- P. Grosch and F. Thomas, "Geometric
Path Planning without Maneuvers for Non-Holonomic Parallel
Orienting Robots," IEEE Robotics and Automation Letters,
Vol. 1, No. 2, pp. 1066-1072, July 2016. DOI:
10.1109/LRA.2016.2529688
- F. Thomas and J.M. Porta, "Closure
Polynomials for Strips of Tetrahedra," Advances in Robot
Kinematics (ARK2016), Grasse, France, June, 2016. (Presentation) DOI:
10.1007/978-3-319-56802-7_32
- J.M. Porta, A. Rull, and F.
Thomas, "Sensor Localization
from Distance and Orientation Constraints," Sensors,
Vol. 16, No. 7, pp 1-19, 2016. DOI: 10.3390/s16071096
2015
- F. Thomas, "A Distance
Geometry Approach to the Singularity Analysis of 3R Robots,"
ASME Journal of Mechanisms and Robotics, Vol. 8, No. 1,
011001, August 2015. DOI: 10.1115/1.4029500
- N. Rojas, J. Borras, and F.
Thomas, "On
Quartically-Solvable Robots," Proc. of the IEEE
International Conference in Robotics and Automation, Seattle,
Washington, USA, May 26-30, 2015. DOI:
10.1109/ICRA.2015.7139374
- A. Rull, J.M. Porta, and F.
Thomas, "Distance Bound
Smoothing under Orientation Constraints," Proc. of
the IEEE International Conference in Robotics and Automation,
Seattle, Washington, USA, May 26-30, 2015. DOI:
10.1109/ICRA.2015.7139377
- A. Pérez-Gracia and F. Thomas, "Clifford Algebra
Representation of Grasping and Manipulative Hand Actions for
Kinematic Synthesis," Proc. of Applied Geometric Algebra
in Computer Science and Engineering (AGACSE2015), Barcelona,
Spain, July 29-31, 2015. DOI: 10.1109/ICRA.2015.7139374.
- N. Rojas, A. Dollar, and F.
Thomas, "A Unified Position
Analysis of the Dixon and the Generalized Peaucellier
Linkages", Mechanism and Machine Theory, Vol. 94, pp.
28–40, 2015. DOI: 10.1016/j.mechmachtheory.2015.07.008
2014
"Beginners in the subject of quaternions are
generally bewildered by the arbitrary manner in which the
subject is developed. They are forcibly introduced into a new
domain where the familiar rules of combination of symbols are
not valid. New magnitudes are arbitrarily assumed, subject to
arbitrary laws. The reader finds the logic consistent and the
results concordant with those of his previous courses, but he
hardly knows why. He finds himself in a new country, but
thoroughly and bewilderingly uncertain as to how he got
there."
--- Arthur Latham Baker, 1911.
- F. Thomas, "Computing Cusps of
3R Robots Using Distance Geometry," 14th International
Symposium on Advances in Robot Kinematics (ARK2014),
Ljubljana, Slovenia, Jun 29-July 3, 2014. DOI:
10.1007/978-3-319-06698-1_1
- J. Borràs, F. Thomas, and C. Torras, "New Geometric Approaches
to the Analysis and Design of Stewart-Gough Platforms,"
IEEE/ASME Transactions on Mechatronics, Vol. 19, No. 2,
pp. 445-455, 2014. DOI: 10.1109/TMECH.2013.2239305
- A. Rull and F. Thomas, "On
Generalized Euler Angles," 5th European Conference on
Mechanism Science (EUCOMES 2014), Guimarães, Portugal,
September 16-20, 2014. DOI: 10.1007/978-3-319-09411-3_7
2013
- N. Rojas and F. Thomas, "Application of Distance
Geometry to Tracing Coupler Curves of Pin-Jointed Linkages,"
ASME Journal of Mechanisms and Robotics, Vol. 5, No. 2, 021001, 2013.
DOI: 10.1115/1.4023515
- N. Rojas and F. Thomas, "The Univariate Closure
Conditions of All Fully-Parallel Planar Robots Derived From
a Single Polynomial," IEEE Transactions on Robotics,Vol.
29, No. 3, pp. 758 - 765, 2013. DOI:
10.1109/TRO.2013.2242376
- N. Rojas and F. Thomas, "The Closure Condition of the
Double Banana and Its Application to Robot Position
Analysis," Proceedings of 2013 IEEE International
Conference on Robotics and Automation, May 6-10, Karlsruhe,
Germany, 2013. DOI: 10.1109/ICRA.2013.6631237
- P. Grosch and F. Thomas, "A Bilinear Formulation for the
Motion Planning of Non-holonomic Parallel Orienting
Platforms," Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems
(IROS 2013), November 3-8, Tokyo, Japan, 2013. DOI: 10.1109/IROS.2013.6696465
- F. Thomas
and A. Pérez Gracia (eds.), Computational Kinematics,
Proceedings of the 6th International Workshop on
Computational Kinematics (CK2013), Springer, 2013. ISBN:
9789400772144
2012
- N. Rojas and F. Thomas, "On
Closed-Form Solutions to the Position Analysis of Baranov
Trusses," Mechanism and Machine Theory, Vol. 47, pp. 179-196, April
2012. DOI: 10.1016/j.mechmachtheory.2011.10.010
- N. Rojas, J. Borràs, and F. Thomas, "The Octahedral Manipulator
Revisited," Proceedings of the 2012 IEEE International
Conference on Robotics and Automation, May 14-18, Saint Paul,
Minnesota, USA. DOI: 10.1109/ICRA.2012.6224908
- K. Tchon, J. Jakubiak, P. Grosch, and F. Thomas, "Motion Planning for Parallel
Robots with Non-holonomic Joints," Advances in Robot
Kinematics (ARK 2012), Innsbruck, Austria.
- R. Vaca, J. Aranda, and F. Thomas, "Simplified Voronoi Diagrams for
Motion Planning of Quadratically-Solvable Gough-Stewart
Platforms," Advances in Robot Kinematics (ARK 2012),
Innsbruck, Austria.
- N. Rojas and F. Thomas, "Formulating
Assur Kinematic Chains as Projective Extensions of Baranov
Trusses," Mechanism and Machine Theory, Vol. 56, pp. 16–27, 2012.
- J. Borràs and F. Thomas, "On the Primal and Dual
Forms of the Stewart Platform Pure Condition," IEEE
Transactions on Robotics,Vol. 28, No. 6, pp. 1205-1215, 2012.
2011
- N. Rojas and F. Thomas, "Distance-Based
Position Analysis of the Three Seven-Link Assur Kinematic
Chains," Mechanism and Machine Theory, Vol. 46, No. 2,
pp. 112-126, February 2011.
- N. Rojas and F. Thomas, "The
Forward
Kinematics of 3-RPR Planar Robots: A Review and a
Distance-Based Formulation," IEEE Transactions on
Robotics, Vol. 27, No. 1, pp. 143-150, 2011.
- F. Thomas and P. Wenger, "On
the Topological Characterization of Robot Singularity Loci.
A Catastrophe-Theoretic Approach," Proceedings of the 2011 IEEE International
Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011.
- J. Borràs, F. Thomas, and C. Torras, "Architectural Singularities of a
Class of Pentapods," Mechanism and Machine Theory, Vol.
46, No. 8, pp. 1107-1120, August 2011,
- N. Rojas and F. Thomas, "Closed-Form
Solution
to the Position Analysis of Watt-Baranov Trusses Using the
Bilateration Method," ASME Journal of Mechanisms and
Robotics, Vol. 3, No. 3, 031001 (10 pages), August 2011.
- N. Rojas and F. Thomas, "A
Coordinate-Free Approach to Tracing the Coupler Curves of
Pin-Joined Linkages," Proceedings of the ASME 2011
International Design Engineering Technical Conference,
IDECTC/CIE 2011, Washington DC, August 28-31, 2011. Best paper award finalist.
- J. Borràs, F. Thomas, and C.
Torras, "Singularity-Invariant
Families of a Class of 5-SPU Platforms," IEEE Transactions on
Robotics, Vol. 27, No. 5, pp. 837-848, 2011.
2010
- P. Grosch, R. Di Gregorio, and F. Thomas, "Generation of Under-Actuated
Manipulators with Non-Holonomic Joints from Ordinary
Manipulators," ASME Journal of Mechanisms and Robotics,
Vol. 2, No.1, 2010.
- J.
Borràs, F. Thomas, and C. Torras, "A Family of
Quadratically-Solvable 5-SPU Parallel Robots,"
Proceedings of the 2010 IEEE International Conference on
Robotics and Automation, Anchorage, Alaska, May 3 - 8, 2010.
(Presentation)
- P.
Grosch,
R. Di Gregorio, J. López, and F. Thomas, "Motion Planning for a Novel
Reconfigurable Parallel Manipulator with Lockable Revolute
Joints," Proceedings of the
2010 IEEE International Conference on Robotics and
Automation, Anchorage, Alaska, May 3 - 8, 2010.Video.
- N.
Rojas and F. Thomas, "A Robust
Forward Kinematics Analysis of 3-RPR Planar Platforms,"
in Advances in Robot Kinematics, J. Lenarcic and M.
Stanisic (editors), Springer Verlag, 2010.
- J.
Borràs, F. Thomas, and C, Torras "Singularity-Invariant
Leg Rearrangements in Stewart-Gough Platforms," in
Advances in Robot Kinematics, J. Lenarcic and M.
Stanisic (editors), Springer Verlag, 2010.
- P. Grosch, R. Di Gregorio, and F.
Thomas, "A One-Motor
Full-Mobility 6-PUS Manipulator," Proceedings of the
18th CISM-IFToMM Symposium on Robot
Design, Dynamics, and Control, Udine, Italy, July 5–8, 2010. Video
- J.
Borràs, F. Thomas, and C. Torras, "Singularity-Invariant
Leg
Rearrangements in Doubly-Planar Stewart-Gough Platforms,"
Robotics Science and Systems 2010, Zaragoza, Spain,
June 27-30, 2010
- N. Rojas, J, Borràs, and F.
Thomas, "A Distance-Based Formulation of the Octahedral
Manipulator Kinematics," IFToMM Symposium on Mechanism Design
for Robotics 2010, Mexico City, Mexico, September, 28-29,
2010.
- J. Borràs and Federico Thomas, "Singularity-Invariant Leg
Substitutions in Pentapods," 2010 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS 2010),
Taipei, Taiwan, October 18-22, 2010.
- M. Ceccarelli and F. Thomas, "A
Historical Survey on the Nurember Scissors, the Precursor of
Modern Deployable Mechanisms," IFToMM Workshop on History of
Mechanism and Machine Science, Beijing, P.R.China, October
12-14, 2010.
2009
- M. Alberich-Carramiñana, M. Garolera, F. Thomas, and C.
Torras, "Partially-Flagged
Parallel Manipulators: Singularity Charting and Avoidance,"
IEEE Transactions on Robotics, Vol. 25, No. 4, pp. 771-784,
August 2009.
- J.M. Porta, L. Ros, and F. Thomas, "A Linear Relaxation
Technique for the Position Analysis of Multi-Loop Linkages,"
IEEE Transactions on Robotics, Vol. 25, No. 2, pp. 225-140,
April 2009.
- J.M. Porta and F. Thomas, "A Concise Proof of
Tienstra's Formula," Journal of Surveying
Engineering-ASCE, Vol. 135, No. 4, pp. 170-172, November 2009.
- J. Borràs and F. Thomas, "Kinematics
of Line-Plane Subassemblies in Stewart Platforms,"
Proccedings of the 2009 IEEE International Conference on
Robotics and Automation, pp. 4094-4099, Kobe, Japan, May
12-17, 2009.
- P. Grosch, R. Di Gregorio, and F. Thomas, "Generation of
Under-Actuated Parallel Robots with Non-Holonomic Joints and
Kinetostatic Analysis of a Case-Study," Proc. of the
ASME 2009 International Design Engineering Technical
Conferences & Computers and Information in Engineering
Conference, IDETC/CIE 2009, August 30-September 2, 2009, San
Diego, USA, 2009.
- J. Borràs, F. Thomas, E. Ottaviano and M. Ceccarelli, "Reconfigurable 5-DOF 5-SPU
Parallel Platform," ASME/IFToMM International Conference
on Reconfigurable Mechanisms and Robots (ReMAR), King's
College of London, London, United Kingdom, June 22-24, 2009. (Robot simulation)(PowerPoint presentation).
- J. Borràs, F. Thomas, and C. Torras, "Straightening-Free Algorithm for
the Singularity Analysis of Stewart-Gough Platforms with
Collinear/Coplanar Attachments," Computational
Kinematics 2009, Duisburg, Germany, May 6-8, 2009. (PowerPoint
presentation).
- J. Borràs, F. Thomas, and C. Torras, "On Delta Transforms,"
IEEE Transactions on Robotics, Vol. 25, No. 6, pp. 1225-1236,
2009. (PowerPoint
presentation).
- M. Alberich-Carramiñana, V. González, F. Thomas, and
C.Torras, "Stratifications
of
the Euclidean Motion Group with Applications to Robotics,"
Geometriae Dedicata, Vol. 141, No. 1, pp. 19-32, 2009.
2008
- J. Andrade-Cetto and F. Thomas,
"A Wire-Based Active Tracker," IEEE Transactions on Robotics, Vol.
24, No. 3, pp. 642-651, 2008.
- F. Thomas, "A
Short Account of Leonardo Torres' Endless Spindle,"
Mechanism and Machine Theory, Vol. 43, No. 8, pp. 1055-1063,
2008.
- J. Borràs, F. Thomas, and C. Torras, "Architecture Singularities in
Flagged Parallel Manipulators," Proccedings of the 2008
IEEE International Conference on Robotics and Automation,
Pasadena, California, May 19-23, 2008.
- R. Frigola, L. Ros, F. Roure, and F. Thomas, "A Wrench-Sensitive Touch Pad
Based on a Parallel Structure," Proccedings of the 2008
IEEE International Conference on Robotics and Automation,
Pasadena, California, May 19-23, 2008.
- P. Ben-Horin and F. Thomas, "A Nonholonomic 3-Motor Parallel
Robot," in Advances in Robot Kinematics, J. Lenarcic and
P. Wenger (editors), Springer Verlag, 2008.
Corregendum Erratum: The kinetostatic analysis in this
article contains a mistake, see (Grosch, Di Gregorio and
Thomas, 2010).
- J. Borràs, F. Thomas, and C. Torrras, "Analysing the
Singularities of 6-SPS Parallel Robots Using Virtual Legs,"
Second Int. Workshop on Fundamental Issues and Future Research
Directions for Parallel Mechanisms and Manipulators,
Montpellier, France, September 21-22, 2008.
2007
- J.M.
Porta, L. Ros, T. Creemers, and F. Thomas, "Box
Approximations of Planar Linkage Configuration Spaces," Transactions of the ASME, Journal
of Mechanical Design, Vol. 129, No. 4, pp. 397-405, 2007.
- J.M.
Porta, L. Ros, F. Thomas, F. Corcho, J. Canto, J.J. Pérez, "Complete Maps of Molecular-Loop
Conformational Spaces," Journal of Computational Chemistry, Vol. 28,
No. 13, pp. 2170-2189, 2007.
- M.
Alberich, F. Thomas, and C. Torras, "Flagged
Parallel Manipulators," IEEE Transactions on Robotics, Vol.
23, No. 5, pp. 1013-1023, 2007. (PowerPoint
presentation).
- J. M. Porta, J. Cortes, L. Ros,
and F. Thomas, "A Space
Decomposition Method for Path Planning of Loop Linkages,"
IEEE/RSJ International Conference on Intelligent Robots and
Systems, San Diego, USA, 2007.
2006
- J.M.
Porta, L. Ros, and F. Thomas, "Multiloop
Position Analysis Via Iterated Linear Programming," Robotics, Science and Systems, MIT
Press.
- J.
Andrade-Cetto and F. Thomas, "Wire-Based
Tracking Using Mutual Information," in Advances in Robot Kinematics, Mechanisms
and Motion, J. Lenarcic and B. Roth (editors),
Springer Verlag, 2006.
- C.
Torras, F. Thomas, and M. Alberich, "Stratifying
the Singularity Loci of a Class of Parallel Manipulators," IEEE Transaction on Robotics,
Vol. 22, No. 1, pp. 23-32, 2006.
- M.
Alberich, F. Thomas, and C. Torras, "On
Redundant Flagged Manipulators," Proceedings of the 2006 IEEE International
Conference on Robotics and Automation, Orlando, Florida, May
15-19, 2006. (PowerPoint
presentation)
- T.
Creemers, J.M. Porta, L. Ros, and F. Thomas, "Fast
Multiresolutive Approximations of Planar Linkage
Configuration Spaces,"
Proceedings of the 2006 IEEE International Conference on
Robotics and Automation, Orlando, Florida,
May 15-19, 2006.
- J.
Martínez, J.M. Porta, and F. Thomas, "A
Matrix Based Approach to the Image Moment Problem," Journal of Mathematical Imaging and
Vision, Vol. 26, pp. 105-113, 2006. (Matlab file)
2005
- F.
Thomas, E. Ottaviano, L. Ros, and M. Ceccarelli, "Performance
Analysis
of a 3-2-1 Pose Estimation Device," IEEE Transactions on Robotics, Vol. 21, No.
3, pp. 288-297, June 2005.
- J.M.
Porta, L. Ros, and F. Thomas, "Inverse
Kinematics by Distance Matrix Completion," International Workshop on
Computational Kinematics, May 4-6, Cassino, Italy.
- L.
Ros and F. Thomas, "Geometric Methods for Shape Recovery
from Line Drawings of Polyhedra," Journal of Mathematical Imaging and
Vision, Vol. 22, No. 1, pp. 5-18, 2005.
- J.M.
Porta, L. Ros, F. Thomas, and C. Torras, "A
Branch-and-Prune Solver for Distance Constraints," IEEE Transactions on Robotics, Vol.
21, No. 2, pp. 176-187, April 2005.
- J.M.
Porta, L. Ros, and F. Thomas, "On
the Trilaterable Six-Degree-of-Freedom Parallel and Serial
Manipulators,"
Proceedings of the 2005 IEEE International Conference on
Robotics and Automation, April 18-22, Barcelona.
- F.
Thomas and L. Ros, "Revisiting Trilateration for Robot
Localization," IEEE
Transactions on Robotics, Vol. 21, No. 1, pp.
93-101, February 2005. (Matlab
file). Corregendum Erratum: Section
IV-A contains a mistake, the correct formulas will be
available as soon as possible.
2004
- M.
Roldán, F. Thomas, S. Castel, A. Quesada, and M.
Hernández-Mariné, "Non invasive pigment identification
in single-cells from living phototrophic biofilms by
confocal imaging spectrofluorometry," Applied Environmental Microbiology,
Vol. 70, No. 6, pp. 3745-3750, 2004.
- F.
Thomas, "Solving Geometric Constraints by Iterative
Projections and Backprojections," Proceedings of the 2004 IEEE International
Conference on Robotics and Automation, pp. 1789-1795, April
26- May 1, New
Orleans.
- J.M.
Porta, L. Ros, and F. Thomas, "Isolating
Self-Motion Manifolds on a PlaySatation(TM)," Advances in Robot Kinematics, G.
Galletti and J. Lenarcic (editors), pp. 123-133.Kluwer
Academic Publishers.
- F.
Thomas, J.M. Porta, and L. Ros "Distance
Constraints Solved Geometrically," Advances in Robot Kinematics, G. Galletti
and J. Lenarcic (editors), pp. 31-41. Kluwer
Academic Publishers.
2003
- J.
Rodríguez, F. Thomas , D. Ayala, and L. Ros, "Efficient Computation of 3D
Skeletons by Extreme Vertex Encoding," in Discrete
Geometry for Computer Imagery, I. Nyström, G. Sanniti
di Baja, and S. Svensson (Eds.), Lecture Notes in Computer
Science, Vol. 2886, pp. 338-347, Springer Verlag, 2003.
- L.
Ros, K. Sugihara, and F. Thomas, " Towards
Shape Representation using Trihedral Mesh Projections," The Visual Computer, Vol. 19, No.
2-3, pp. 139-150, 2003.
- J.M.
Porta, L. Ros, F. Thomas, and C. Torras, " A
Branch-and-Prune Algorithm for Solving Systems of Distance
Constraints,"Proceedings
of the 2003 IEEE International Conference on Robotics and
Automation, May 12-17, Taipei, Taiwan.
- F.
Thomas, E. Ottaviano, L. Ros, and M. Ceccarelli, "
Coordinate-free Formulation of a 3-2-1 Wire-based
Tracking Device using Cayley-Menger Determinants," Proceedings of the 2003 IEEE
International Conference on Robotics and Automation,
May 12-17, Taipei,
Taiwan.
- I.S.
Baruch, A. Martínez, F. Thomas, and R. Garrido, "An
Integral-Plus-State Adaptive Neural Control of Mechanical
System," Proceedings of the 2003 IEEE International
Conference of Control Applications, June 23-25, Istanbul, Turkey.
- J.
Martínez and F. Thomas, " On
the Reconstruction of an Image from its Moments," Proceedings of the 2003 IEEE
International Conference on Image Processing, September
14-17, Barcelona,
Spain.
2002
- F.
Thomas and C. Torras, "A Projectively Invariant
Intersection Test for Polyhedra," The Visual Computer, Vol. 18, 2002, No.
7, pp. 405-414, November 2002.
- J.
Martínez and F. Thomas, " Efficient Computation of Local
Geometric Moments,"
IEEE Trans. on Image Processing, Vol. 11, No. 9, pp.
1102-1112, September 2002.
- L.
Ros, A. Sabater, and F. Thomas, " An
Ellipsoidal Calculus Based on Propagation and Fusion ," IEEE Trans. on Systems, Man,
and Cybernetics -- Part B: Cybernetics , Vol. 32,
No. 4, pp. 430-443, August 2002. (Maple files)
- L.
Ros, K. Sugihara, and F. Thomas, "
Shape Representation using Trihedral Mesh Projections ," in Discrete Geometry for
Computer Imagery, A. Braquelaire, J-O. Lachaud
and A. Vialard (Eds.), Lecture Notes in Computer Science,
Vol. 2301, pp. 209-219, Springer Verlag, 2002.
- L.
Ros and F. Thomas, "Overcoming Superstrictness in Line
Drawing Interpretation ," IEEE Trans. on Pattern Analysis and
Machine Intelligence, Vol. 24, No. 4, pp. 456-466, April
2002,.
- E.
Staffetti and F Thomas, "
Analytic Formulation of the Kinestatics of Robot
Manipulators with Arbitrary Topology," Proceedings of the 2002 IEEE
International Conference on Robotics and Automation,
May 11-15, 2002,Washington
D.C.
- J.M.
Porta, L. Ros, F. Thomas, and C. Torras, "
Solving Multi-Loop Linkages by Iterating 2D
Clippings," in
Advances in Robot Kinematics, J. Lenarcic and F. Thomas
(Eds.), pp. 255-265, Kluwer Academic Publishers.(Presentation).
- F.
Thomas, E. Ottaviano, L. Ros, and M. Ceccarelli, "
Uncertainty Model and Singularities of 3-2-1
Wire-Based Tracking Systems," in Advances in Robot Kinematics, J. Lenarcic
and F. Thomas (Eds.), pp. 107-117, Kluwer Academic
Publishers, 2002.
- E.
Ottaviano, M. Ceccarelli, F. Sbardella, and F. Thomas,
"Experimental Determination of Kinematic Parameters and
Workspace of Human Arms," 11th International Workshop on
Robotics in Alpe-Adria-Danube Region, June 30- July 2,
Balatonfüred,
Hungary.
- J.
Lenarcic and F. Thomas (Eds.), Advances
in Robot Kinematics, Kluwer
Academic Publishers, 536 pages; ISBN: 1402006969, August
2002.
2001
- P.
Jiménez, F. Thomas, and C. Torras, " Collision Detection: A Survey," Computers and Graphics, Vol. 25, No.
2, pp. 269-285..
- C.
Bombín, L.Ros, and F.Thomas, `` On
the Computation of the Direct Kinematics of Parallel
Spherical Mechanisms Using Bernstein Polynomials," Proceedings of the 2001 IEEE
International Conference on Robotics and Automation, May
21-26, 2001, Seoul,
Korea.
- L.
Ros and F. Thomas, "Correcting Polyhedral Projections
for Scene Reconstruction," Proceedings of the 2001 IEEE International
Conference on Robotics and Automation, May 21-26, 2001, Seoul, Korea.
- L.
Ros and F. Thomas, "Numerical Analysis of the
Instantaneous Motions of Panel-and-Hinge Frameworks and
its Application to Computer Vision," Proceedings of the 2nd Int. Workshop
on Computational Kinematics, pp. 199-210, May 20-22, 2001,
Seoul, Korea.
- I.
Baruch, J.-M. Flores, F. Thomas, and R. Garrido, "Adaptive
Neural Control of Nonlinear Systems," Proceedings of
the International Conference on Artificial Neural Networks,
ICANN 2001, August 21-25, Viena, Austria.
- I.
Baruch, J.-M. Flores, F. Thomas, and E.
Gortcheva, "A Multimodel Recurrent Neural Network for
System Identification and Control ," INNS-IEEE Conference on
Neural Networks, July 14-19, 2001, Washington DC.
2000
- C.
Bombín, L. Ros, and F. Thomas, " A
Concise Bézier Clipping Technique for Solving
Inverse Kinematics Problems," in Advances in Robot Kinematics, J. Lenarcic
and M.M. Stanisic (Editors), Kluwer Academic Publishers,
2000.
- E.
Staffetti and F. Thomas, "Kinestatic
Analysis
of Serial and Parallel Robot Manipulators using
Grassmann-Caley Algebra," in Advances in Robot
Kinematics, J. Lenarcic y M.M. Stanisic
(Editors), Kluwer Academic Publishers, 2000.
- F.
Thomas, C. Turnbull, L. Ros, and S. Cameron, "
Computing Signed Distances between Free-Form Objects," Proceedings of the 2000 IEEE
International Conference on Robotics and Automation,
April 22-28, 2000, San
Francisco, USA.
- L.
Ros, and F. Thomas, "Shape-from-Image via Cross-Sections," Proceedings of the 15th IEEE
International Conference on Pattern Recognition,
September 3-8, 2000, Barcelona, Spain.
- F.
Romero, L. Ros, and F. Thomas, "
Fast Skeletonization of Spatially Encoded Objects," Proceedings of the 15th IEEE
International Conference on Pattern Recognition, September
3-8, 2000, Barcelona,
Spain.
- E.
Staffetti, and F. Thomas, "
Analysis of Rigid Body Interactions for Compliant Motion
Tasks Using Grassmann-Cayley Algebra," IEEE/RSJ International Conference
on Intelligent Robots and Systems (IROS 2000),
November 5-9, 2000, Kagawa
University, Takamatsu, Japan.
1999
- A.
Castellet and F. Thomas, "The Self-Motion Manifold of the
Orthogonal Spherical Mechanism, " Mechanisms and Machine Theory, Vol.
34, No. 1, pp. 59-88, January 1999.
- E.
Staffetti, L. Ros, and F. Thomas, "A
Simple Characterization of the Infinitesimal Motions
Separating General Polyhedra in Contact," Proceedings of the 1999 IEEE
International Conference on Robotics and Automation,
Vol. 2, pp. 571-578, May 10-15, 1999, Detroit, USA.
- E.
Staffetti, L. Ros, and F. Thomas, "Finding
Infinitesimal
Motions of Objects in Assemblies Using Grassmann-Caley
Algebra," Tenth
World Congress on the Theory of Machine and Mechanisms ,
Vol. 2, pp. 584-592, junio 20-24, 1999, Oulu, Finland.
- I.
Baruch, E. Gortcheva, F. Thomas, and R. Garrido, "A
Neuro-Fuzzy Model for Nonlinear Plants
Identification," 1999 IASTED International Conference on
Modelling and Simulation, MS'99, pp. 291-021, 1-6, May
5-8, 1999, Phiiladelphia, USA.
- I.
Baruch, R. Garrido, F. Thomas, and A. Mitev, "A
Hybrid Multimodel Neural Network for Nonlinear Systems
Identification,"
International Joint Conference on Neural Networks (IJCNN'99), July 10-16, 1999, Washington D.C.,
USA.
1998
- F.
Thomas, "Generating Street Center-Lines from
Inaccurate Vector City Maps," Cartography and Geography Information
Systems, Vol. 25, No. 4, pp. 221-230, October 1998. American
Congress on Surveying and Mapping (ACSM). DOI:
10.1559/152304098782383052
- P.
Jiménez, F. Thomas, and C. Torras, "Collision Detection
Algorithms for Motion Planning," in Robot Motion.
Planning and Control, J-P. Laumond (Ed.), Lecture Notes in
Control and Information Sciences, Vol. 229, pp. 305-344,
Springer Verlag, 1998.
- A.
Castellet and F. Thomas, "An
Algorithm for the Solution of Inverse Kinematic Problems
Based on an Interval Method," in Advances in Robot Kinematics, M.
Husty and J. Lenarcic (Eds.), pp. 393-403, Kluwer Academic
Publishers, 1998. DOI: 10.1007/978-94-015-9064-8_40
- L.
Ros and F. Thomas, "Applying
Delta/Star Reductions for Checking the Spatial
Realizability of Line Drawings," 14th European
Workshop on Computational Geometry, CG'98, pp. 127-131, F.
Hurtado y J. Trias (Eds.), March 25-27, 1998, Barcelona,
Spain.
- L.
Ros and F. Thomas, "Analysing Spatial Realizability of
Line Drawings Through Local Edge-Concurrence Tests, " 1998 IEEE Int. Conference on
Robotics and Automation, Vol. III, pp. 3559-3566, May 16-21,
1998, Leuven, Belgium. DOI: 10.1109/ROBOT.1998.681020
- J.
Martínez and F. Thomas, "Fast Actualization of Moments in
Sliding Window Applications," EUSIPCO-98. Ninth European
Signal Processing Conference, Vol. I, pp. 145-149, September
8-11, 1998, Rodas,
Greece.
1997
- R.
Cardoner, and F. Thomas, "Residuals
+ Directional Gaps = Skeletons," Pattern Recognition Letters, Vol. 18, No. 4,
pp. 343-353, May 1997. DOI: 10.1016/S0167-8655(97)00021-4
- R.
Cardoner and F. Thomas, "Efficient
Morphological
Set Transformations on Line Drawings," International
Journal of Pattern Recognition and Artificial Intelligence,
Vol. 11, No. 6, pp. 947-960, September 1997. DOI:
10.1142/S0218001497000433
- A.
Castellet and F. Thomas, "
Towards an Efficient Interval Method for Solving Inverse
Kinematic Problems,"
Proceedings of the 1997 IEEE International Conference on
Robotics and Automation, Vol. IV, pp. 3615-3620,
April 22-28, 1997, Alburquerque, New Mexico, USA.
- A.
Castellet and F. Thomas, "Using
Interval
Methods for Solving Inverse Kinematic Problems,"
Proceedings of the NATO Advanced Study Institute on
Computational Methods in Mechanisms, Vol. II, pp.
135-145, June 16-28, 1997, Varna, Bulgaria.
1996
- J.
Martínez and F. Thomas, "A
Reformulation of Grey-Level Image Geometric Moment
Computation for Real-Time Applications," Proceedings of the 1996 IEEE
International Conference on Robotics and Automation, Vol. III,
pp. 2315-2320, abril 22-28, 1996, Minneapolis, Minnesota, USA.
- J.
Martínez,
E. Staffetti, and F. Thomas, "A
Recursive Updating Rule for Efficient Computation of
Linear Moments in Sliding-Window Applications," Proceedings of the 13th
International Conference on Pattern Recognition, pp. 87-91,
August 25-29, 1996, Viena, Austria.
- J.
Martínez,
J. Ros, and F. Thomas, "On the Information Contained in
High-Order Geometric Moments," Proceedings of the European
Workshop on Hazardous Environment Robotics, pp. 87-92,
November 25-26, 1996, Barcelona.
From the origins to 1995
- C.
Torras and F. Thomas, "Planning with Constraints:
Applications to Sensor-based Robot Assembly Tasks," 1st. IFAC
Symposium on Robot Control (SYROCO), pp. 453-457, November
1985.
- F.
Thomas and C. Torras, "Group
Theoretic Approach to the Computation of Symbolic Part
Relations," IEEE
Journal of Robotics and Automation, Vol. 4, No. 6, pp.
622-634, December 1988.
- F.
Thomas and C. Torras, "Constraint-Based Inference of
Assembly Configurations," Proceedings of the 1988 IEEE International
Conference on Robotics and Automation, Vol. II, pp.
1304-1307, April 1988, Philadelphia, USA.
- F.
Thomas, "Real-Time Processing of Spatial Proximity
Information to Accomplish Guarded Motions," IEEE
International Workshop on Sensorial Integration for
Industrial Robots: Architectures and Applications, Vol. I,
pp. 287-293, November 1989, Zaragoza, Spain.
- A.
Sabater and F. Thomas, "Set Membership Approach to the
Propagation of Uncertain Geometric Information, " Proceedings of the 1991 IEEE
International Conference on Robotics and Automation, Vol. III,
pp. 2718-2723, abril 9-11, 1991, Sacramento, USA.
- F.
Thomas, "Graphs of
Kinematic Constraints," Chapter 4 in
Computer-Aided Mechanical Assembly Planning, L.S. Homem de
Mello and S. Lee (Eds.), pp. 81-111, Kluwer Academic
Publishers, 1991.
- F.
Thomas and C. Torras, "Inferring
Feasible Assemblies from Spatial Constraints," IEEE Transactions on Robotics and
Automation, Vol. 8, No. 2, pp. 228-239, April 1992.
- F.
Thomas, "On the N-bar Mechanism, or How to Find Global
Solutions to Redundant Single Loop Spatial Kinematic
Chains",
Proceedings of the 1992 IEEE International Conference on
Robotics and Automation, Vol. I, pp. 403-408, May
12-14, 1992, Nice, France.
- F.
Thomas, "The Self-Motion Manifold of the N-bar Mechanism,"
in Computational Kinematics, J. Angeles (Editor), pp.
95-107, Kluwer Academic Publishers, 1993.
- F.
Thomas and L. Basañez, "Interactive
Planning Using Graphical Simulation for Robot Task
Programming," RoManSy 9: Proceedings of the Ninth
CISM-IFToMM Symposium on Theory and Practice of Robots and
Manipulators, pp. 378-385, A. Morecki, G.
Bianchi, and K. Jaworek (Eds.), Lecture Notes in Control and
Information Sciences, Springer Verlag, 1993.
DOI:10.1007/BFB0031465
- A.
Sabater, and F. Thomas, "Propagation
and
Fusion of Uncertain Geometric Information,"
IASTED-IEEE International Conference on Robotics and
Manufacturing, pp. 34-38, September 23-25, 1993, Oxford, UK.
- F.
Thomas, and C. Torras, "Interference Detection Between
Non-Convex Polyhedra Revisited with a Practical Aim," Proceedings of the 1994 IEEE
International Conference on Robotics and Automation, Vol. I,
pp. 587-594, May 1994, San Diego, USA.
- F.
Thomas and C. Torras, "Positional
Inverse Kinematic Problems in Rn x Tm
Solved in T2( n +m)",
in Advances in Robot Kinematics and Computational Geometry,
A.J. Lenarcic y B.B. Ravani (Eds.), pp. 291-300, Kluwer
Academic Publishers, 1994.
- F.
Thomas, "An Approach to the Movers' Problem that
Combines Oriented Matroid Theory and Algebraic Geometry," Proceedings of the 1995 IEEE
International Conference on Robotics and Automation, Vol. III,
pp. 2285-2293, May 1995, Nagoya, Japan.