Publication
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Selected papers on kinematics and collision detection

Colomé A. and Torras C.: ``Closed-loop inverse kinematics for redundant robots: Comparative assessment and two enhancements". IEEE/ASME Transactions on Mechatronics, vol. 20, num. 2, pp. 944-955, 2015.


Borrās J., Thomas F. and Torras C.: ``New geometric approaches to the analysis and design of Stewart-Gough platforms". IEEE/ASME Transactions on Mechatronics, vol. 19, num. 2, pp. 445-455, 2014.


Colomé A., Pardo D., Alenyā G. and Torras C.: ``External force estimation during compliant robot manipulation". Proc. IEEE Conf. on Robotics and Automation (ICRA'13), Karlsruhe, pp. 3535-3540, 2013.


Borrās J., Thomas F. and Torras C.: "Singularity-invariant families of line-plane 5-SPU platforms". IEEE Transactions on Robotics, vol. 27, num. 5, pp. 837-848, 2011.


Borrās J., Thomas F. and Torras C.: "Architectural singularities of a class of pentapods". Mechanism and Machine Theory, vol. 46, num. 8, pp. 1107-1120, 2011.


Borrās J., Thomas F. and Torras C.: "Singularity-Invariant Leg Rearrangements in Doubly-Planar Stewart-Gough Platforms". Proc. VI Robotics: Science and Systems (RSS'10), Zaragoza, Spain, June 2010.


Borrās J., Thomas F. and Torras C.: "Singularity-invariant leg rearrangements in Stewart-Gough platforms". Proc. 12th Intl. Symp. on Advances in Robot Kinematics (ARK'10), Piran-Portoroz, Slovenia, pp. 421-428, June 2010.


Borrās J., Thomas F. and Torras C.: "A Family of Quadratically-Solvable 5-SPU Parallel Robots". Proc. IEEE Conf. on Robotics and Automation (ICRA'10), Anchorage, Alaska, pp. 4703-4708, May 2010.


Borrās J., Thomas F. and Torras C.: "On Delta Transforms". IEEE Trans. on Robotics, vol. 25, num. 6, pp. 1225-1236, Dec. 2009.


Alberich-Carramiņana M., Garolera M., Thomas F. and Torras C.: "Partially-flagged parallel manipulators: singularity charting and avoidance". IEEE Trans. on Robotics, vol. 25, num. 4, pp. 771-784, Aug. 2009.


Alberich-Carramiņana M., González V., Thomas F. and Torras C.: "Stratifications of the Euclidean motion group with applications to robotics". Geometriae Dedicata, vol. 141, num. 1, pp. 19-32, Aug. 2009.


Borrās J., Thomas F. and Torras C.: "Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments". Proc. 5th Workshop on Computational Kinematics (CK-2009), Duisburg, May 2009.


Borrās J., Thomas F. and Torras C.: "Analyzing the Singularities of 6-SPS Parallel Robots Using Virtual Legs". Proc. II Intl. Workshop on Fund. Issues and Future Res. Directions for Parallel Mechanisms and Manipulators, Montpellier, pp. 145-150, Sept. 2008.


Borrās J., Thomas F. and Torras C.: "Architecture singularities in flagged parallel manipulators". Proc. IEEE Conf. on Robotics and Automation, Pasadena, California (USA), pp. 3844-3850, May 2008.


Alberich-Carramiņana M., Thomas F. and Torras C.: "Flagged parallel manipulators". IEEE Trans. on Robotics, vol. 23, num. 5, pp. 1013-1023, Oct. 2007.


Jiménez P. and Torras C.: "A distance bound for nonconvex polyhedral models in close proximity". Journal of Robotic Systems, vol. 22, num. S1, pp. 35-50, Sept. 2006.


Alberich-Carramiņana M., Thomas F. and Torras C.: "On redundant flagged manipulators". Proc. IEEE Conf. on Robotics and Automation, Orlando, Florida (USA), pp. 783-789, May 2006.


Torras C., Thomas F. and Alberich-Carramiņana M.: "Stratifying the singularity loci of a class of parallel manipulators". IEEE Trans. on Robotics, vol. 22, num. 1, pp. 23-32, Feb. 2006.


Alberich-Carramiņana M., González V. and Torras C.: "The topology of singularities of flagged parallel manipulators". IRI Technical Report, 2005.


Porta J.M., Ros L., Thomas F. and Torras C.: "A branch-and-prune solver for distance constraints". IEEE Trans. on Robotics, vol. 21, num. 2, pp. 176-187, April 2005.


Porta J.M., Ros L., Thomas F. and Torras C.: "A branch-and-prune algorithm for solving systems of distance constraints". Proc. IEEE Conf. on Robotics and Automation, Taipei, Taiwan, Sept. 2003.


Jiménez P. and Torras C.: "Reducing feasible contacts between polyhedral models to red-blue intersections on the sphere". Computed-Aided Design, vol. 35, num. 7, pp. 693-705, June 2003.


Thomas F. and Torras C.: "A projectively invariant intersection test for polyhedra". The Visual Computer, vol. 18, num. 7, pp. 405-414, Nov. 2002.


Porta J.M., Ros L. Thomas F. and Torras C.: "Solving multi-loop linkages by iterating 2D clippings". In "Advances in Robot Kinematics", edited by J. Lenarcic and F. Thomas, pp. 255-264, Kluwer Academic Publishers, 2002.


Jiménez P. and Torras C.: "An orientation-based pruning tool to speed up contact determination between translating polyhedral models". The Intl. Journal of Robotics Research, vol. 20, num. 6, pp. 466-483, June 2001.


Jiménez P., Thomas F. and Torras C.: "3D collision detection: a survey". Computers and Graphics, vol. 25, num. 2, pp. 269-285, April 2001.


Jiménez P. and Torras C.: "Benefits of applicability constraints in decomposition-free interference detection between nonconvex polyhedral models". Proc. IEEE Conf. on Robotics and Automation, Detroit, Michigan, pp. 1856-1862, May 1999.


Jiménez P., Thomas F. and Torras C.: "Collision detection algorithms for motion planning". In "Robot Motion Planning and Control", edited by J-P. Laumond, Lecture Notes in Control and Information Sciences, vol. 229, pp. 305-343, Springer-Verlag, 1998.


Jiménez P. and Torras C.: "Speeding up interference detection between polyhedra". Proc. IEEE Conf. on Robotics and Automation, Minneapolis, pp. 1485-1492, April 1996.


Jiménez P. and Torras C.: "Collision detection: a geometric approach". In "Modelling and Planning for Sensor-Based Intelligent Robot Systems", edited by H. Bunke, T. Kanade and H. Noltemeier, pp. 68-85, World Scientific, 1995.


Thomas F. and Torras C.: "Positional inverse kinematic problems in solved in T2(n+m)". In "Advances in Robot Kinematics", edited by J. Lenarcic and B. Ravani, pp. 291-300, Kluwer Academic Publishers, 1994.


Thomas F. and Torras C.: "Interference detection between non-convex polyhedra revisited with a practical aim". Proc. IEEE Conf. on Robotics and Automation, pp. 587-594, San Diego, May 1994.


Celaya E. and Torras C.: "Solving multi-loop linkages with limited-range joints". Mechanism and Machine Theory, vol. 29, no. 3, pp. 373-391, April 1994.


Celaya E. and Torras C.: "On Finding the Set of Inverse Kinematic Solutions for Redundant Manipulators". In "Computational Kinematics", edited by J. Angeles, G. Hommel and P. Kovács, Kluwer Academic Publishers, pp. 85-94, 1993.


Torras C.: "Robot Motion Planning: A Survey". In "Teleoperation: Numerical Simulation and Experimental Validation", edited by M.C. Becquet, Eurocourses: Computer and Information Science, vol. 4, pp. 27-39, Kluwer Academic Publishers: Dordrecht Boston London, 1992.


Thomas F. and Torras C.: "Inferring feasible assemblies from spatial constraints". IEEE Trans. on Robotics and Automation, vol. 8, no. 2, pp. 228-239, April 1992.


Celaya E. and Torras C.: "Finding object configurations that satisfy spatial relationships". Proc. 9th European Conference on Artificial Intelligence (ECAI'90), pp. 91-96, Stockholm, Aug. 1990.

Ilari J. and Torras C.: "2D path planning: A configuration space heuristic approach". The International Journal of Robotics Research, vol. 9, no. 1, pp. 75-91, Feb. 1990.


Basañez L., Torras C., Ilari J. and Sanfeliu A.: "Operation specialists for automatic programming and monitoring of robotic assembly cells". Journal of Robotics and Computer-Integrated Manufacturing, vol. 6, no. 4, pp. 269-276, 1989.


Thomas F. and Torras C.: "A group theoretic approach to the computation of symbolic part relations". IEEE Journal on Robotics and Automation, vol. 4, no. 6, pp. 622-634, Dec. 1988.