CUIK++: An Extension of Branch-and-Prune Techniques for Motion Analysis and Synthesis of Complex Robotic Systems
Publications: CUIK++ (2011-2013), CUIK+ (2007-2010), CUIK (2005-2007)
CUIK++ (2011-2013)
Journal Publications
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O. Bohigas, M. Manubens and L. Ros. A complete method for workspace boundary determination on general structure manipulators. IEEE Transactions on Robotics, 28(5): 993-1006, 2012.
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O. Bohigas, M. Manubens and L. Ros. A linear relaxation method for computing workspace slices of the Stewart platform. Journal of Mechanisms and Robotics, 5(1): 011005, 2013.
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O. Bohigas, M. E. Henderson, L. Ros, M. Manubens and J.M. Porta. Planning Singularity-free Paths on Closed-Chain Manipulators, IEEE Transactions on Robotics, In press, 2013.
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O. Bohigas, M. Manubens and L. Ros. Singularities of Non-redundant manipulators: A Short Account and a Method for their Computation in the Planar Case, Mechanism and Machine Theory, In press, 2013.
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O. Bohigas, D. Zlatanov, L. Ros, M. Manubens and J.M. Porta. A General Method for the Numerical Computation of Manipulator Singularity Sets, IEEE Transactions on Robotics. In review.
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E. Celaya, T. Creemers and L. Ros. Exact interval propagation for the efficient solution of position analysis problems on planar linkages. Mechanism and Machine Theory, 54: 116-131, 2012.
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L. Jaillet, F. Corcho, J.J. Pérez and J. Cortés. Randomized tree construction algorithm to explore energy landscapes. Journal of Computational Chemistry, 32(16): 3464–3474, 2011.
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L. Jaillet and J.M. Porta. Path planning under kinematic constraints by rapidly exploring manifolds. IEEE Transactions on Robotics, 29(1): 105-117, 2013.
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L. Jaillet and J.M. Porta. Efficient Asymptotically-optimal Path Planning on Manifolds, Robotics and Autonomous Systems, In press, 2013.
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J.M. Porta, L. Jaillet and O. Bohigas. Randomized path planning on manifolds based on higher-dimensional continuation. The International Journal of Robotics Research , 31(2): 201-215, 2012.
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J.M. Porta and L. Jaillet. Exploring the energy landscapes of flexible molecular loops using higher-dimensional continuation. Journal of Computational Chemistry, 34(3): 234-244, 2013.
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J.M. Porta, L. Ros, Bohigas, M. Manubens, C. Rosales and L. Jaillet. The CUIK Suite: Motion Analysis of Closed-chain Multibody Systems, IEEE Robotics and Automation Magazine, Conditionally accepted, 2013.
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R. Valencia, M. Morta, J. Andrade-Cetto and J.M. Porta. Planning Reliable Paths with Pose SLAM, IEEE Transactions on Robotics, In press, 2013.
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S. Ulbrich, V. Ruiz de Angulo, T. Asfour, C. Torras and R. Dillman. General robot kinematics decomposition without intermediate markers. IEEE Transactions on Neural Networks, 23(4): 620-630, 2012.
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S. Ulbrich, V. Ruiz de Angulo, C. Torras, T. Asfour and R. Dillman. Kinematic Bézier maps. IEEE Transactions on Systems, Man and Cybernetics: Part B, 42(4): 1215-1230, 2012.
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C. Rosales. J.M. Porta and L. Ros. Grasp Optimization Under Specific Contact Constraints, IEEE Transactions on Robotics, In press, 2013.
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V. Ruiz de Angulo, J. Cortés and J.M. Porta. Rigid-CLL: Avoiding constant-distance computations in cell linked-lists algorithms. Journal of Computational Chemistry, 33(3): 294-300, 2012.
Conference Publications
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O. Bohigas, Michael E. Henderson, L. Ros and J.M. Porta. A singularity-free path planner for closed-chain manipulators, 2012 IEEE International Conference on Robotics and Automation, 2012, St. Paul, Minnesota, USA, pp. 2128-2134, IEEE.
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O. Bohigas, M. Manubens and L. Ros. Planning singularity-free force-feasible paths on the Stewart platform, 13th International Symposium on Advances in Robot Kinematics, 2012, Innsbruck, in Latest Advances in Robot Kinematics, pp. 245-252, 2012, Springer.
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O. Bohigas, M. Manubens and L. Ros. Navigating the wrench-feasible C-space of cable-driven hexapods, 1st International Conference on Cable-Driven Parallel Robots, 2012, Stuttgart, in Cable-Driven Parallel Robots, Vol 12 of Mechanisms and Machine Science, pp. 53-68, 2013, Springer.
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O. Bohigas, L. Ros and M. Manubens. A unified method for computing position and orientation workspaces of general Stewart platforms, 2011 ASME International Design Engineering Technical Conference, 2011, Washington, DC, USA, pp. 959-968.
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O. Bohigas, D. Zlatanov, M. Manubens and L. Ros. On the numerical classification of the singularities of robot manipulators, 2012 ASME International Design Engineering Technical Conference, 2012, Chicago, Illinois, USA, to appear.
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O. Bohigas, D. Zlatanov, L. Ros, M. Manubens and J.M. Porta. Numerical computation of manipulator singularities, 2012 IEEE International Conference on Robotics and Automation, 2012, St. Paul, Minnesota, USA, pp. 1351-1358, IEEE.
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A. Goldsztejn, C. Jermann, V. Ruiz de Angulo and C. Torras. Symmetry breaking in numeric constraint problems, 17th International Conference on Principles and Practice of Constraint Programming, 2011, Perugia, Italy, in Principles and Practice of Constraint Programming, Vol 6876 of Lecture Notes in Computer Science, pp. 317-324, 2011, Springer.
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L. Jaillet, J. Hoffman, J. van den Berg, P. Abbeel, J.M. Porta and K. Goldberg. EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, San Francisco, pp. 2646-2652, IEEE Press.
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L. Jaillet and J.M. Porta. Asymptotically-optimal path planning on manifolds, 2012 Robotics: Science and Systems Conference, 2012, Sydney (Australia), pp. 1-8, MIT Press.
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L. Jaillet and J.M. Porta. Path planning with loop closure constraints using an atlas-based RRT, 15th International Symposium on Robotics Research, 2011, Flagstaff, USA, Springer, to appear.
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M. Manubens, D. Devaurs, J. Cortés, L. Ros. 6-D manipulation with aerial towed-cable systems, 2013 Robotics: Science and Systems Conference, 2013, Berlin (Germany), in press.
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J.M. Porta, L. Ros, B. Schulze, A. Sljoka and W. Whiteley. On the Symmetric Molecular Conjectures, 2013 Workshop on Computational Kinematics, Barcelona, Spain, in press.
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L. Ros, J.M. Porta, O. Bohigas, M. Manubens, C. Rosales, and L. Jaillet. An Open-Source Toolbox for Motion Analysis of Closed-chain Mechanisms, 2013 Workshop on Computational Kinematics, Barcelona, Spain, in press.
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C. Rosales, J.M. Porta and L. Ros. Global optimization of robotic grasps, VII Robotics: Science and Systems Conference, 2011, Los Angeles, USA, pp. 1-8, MIT Press.
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C. Rosales, R. Suárez, M. Gabiccini and A. Bicchi. On the synthesis of feasible and prehensile robotic grasps, 2012 IEEE International Conference on Robotics and Automation, 2012, St. Paul, Minnesota, USA, pp. 550-556, IEEE.
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E. Simo-Serra, F. Moreno-Noguer and A. Perez. Design of non-anthropomorphic robotic hands for anthropomorphic tasks, 2011 ASME International Design Engineering Technical Conference, 2011, Washington, DC, USA, pp. 377-386.
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E. Simo-Serra, A. Perez, H. Moon and N. Robson. Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks, 13th International Symposium on Advances in Robot Kinematics, 2012, Innsbruck, in Latest Advances in Robot Kinematics, pp. 173-180, 2012, Springer.
CUIK+ (2007-2010)
Journal Publications
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J. Borràs Sol and R. Di Gregorio. Polynomial solution to the position analysis of two Assur kinematic chains with four loops and the same topology. Journal of Mechanisms and Robotics, 1(2): 0210031-0210311, 2009.
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J. Borràs Sol, F. Thomas and C. Torras. On Δ-Transforms. IEEE Transactions on Robotics, 25(6): 1225-1236, 2009.
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L. Jaillet, J. Cortés and T. Simeon. Sampling-based path planning on configuration-space costmaps. IEEE Transactions on Robotics, 26(4): 635-646, 2010.
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J.M. Porta, L. Ros and F. Thomas. A linear relaxation technique for the position analysis of multiloop linkages. IEEE Transactions on Robotics, 25(2): 225-239, 2009.
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N. Rojas and F. Thomas. The forward kinematics of 3-RPR planar robots: a review and a distance-based formulation. IEEE Transactions on Robotics, 27(1): 143-150, 2011.
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C. Rosales, L. Ros, J.M. Porta and R. Suárez. Synthesizing grasp configurations with specified contact regions. The International Journal of Robotics Research , 30(4): 431-443, 2011.
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V. Ruiz de Angulo and C. Torras. Learning inverse kinematics: Reduced sampling through decomposition into virtual robots. IEEE Transactions on Systems, Man and Cybernetics: Part B, 38(6): 1571-1577, 2008.
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V. Ruiz de Angulo and C. Torras. Exploiting single-cycle symmetries in continuous constraint problems. Journal of Artificial Intelligence Research, 34: 499-520, 2009.
Conference Publications
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O. Bohigas, L. Ros and M. Manubens. A complete method for workspace boundary determination, 12th International Symposium on Advances in Robot Kinematics, 2010, Piran-Portorož, Slovenia, in Advances in Robot Kinematics: Motion in Man and Machine, pp. 329-338, Springer Verlag.
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J. Borràs Sol and R. Di Gregorio. Direct position analysis of a large family of spherical and planar parallel manipulators with four loops, 2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, 2008, Montpeller, França, pp. 19-29, LIRMM.
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J. Borràs Sol and F. Thomas. Kinematics of line-plane subassemblies in Stewart platforms, 2009 IEEE International Conference on Robotics and Automation, 2009, Kobe, Japó, pp. 4094-4099, IEEE.
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J. Borràs Sol and F. Thomas. Singularity-invariant leg substitutions in pentapods, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 2766-2771, IEEE.
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J. Borràs Sol, F. Thomas, E. Ottaviano and M. Ceccarelli. A reconfigurable 5-DoF 5-SPU parallel platform, 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, 2009, King Colege, London, pp. 617-623, 2009, IEEE.
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J. Borràs Sol, E. Ottaviano, M. Ceccarelli and F. Thomas. Optimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities, XVII Congreso Nacional de Ingeniería Mecánica, 2008, Gijón, Espanya, pp. 1047-1052, Asociación Española de Ingeniería Mecánica.
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J. Borràs Sol, F. Thomas and C. Torras. Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments, 5th International Workshop on Computational Kinematics, 2009, Duisburg, Germany, pp. 1-8, IFToMM.
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J. Borràs Sol, F. Thomas and C. Torras. A family of quadratically-solvable 5-SPU parallel robots, 2010 IEEE International Conference on Robotics and Automation, 2010, Anchorage, pp. 4703-4708.
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J. Borràs Sol, F. Thomas and C. Torras. Architecture singularities in flagged parallel manipulators, 2008 IEEE International Conference on Robotics and Automation, 2008, Pasadena, Estats Units d'Amèrica, pp. 3844-3850, IEEE.
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J. Borràs Sol, F. Thomas and C. Torras. Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms, VI Robotics: Science and Systems Conference, 2010, Zaragoza, Spain, pp. 1-8.
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J. Borràs Sol, F. Thomas and C. Torras. Singularity-invariant leg rearrangements in Stewart-Gough platforms, 12th International Symposium on Advances in Robot Kinematics, 2010, Piran-Portorož, Slovenia, in Advances in Robot Kinematics: Motion in Man and Machine, pp. 421-428, Springer Verlag.
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R. Frigola, L. Ros, F. Roure and F. Thomas. A wrench-sensitive touch pad based on a parallel structure, 2008 IEEE International Conference on Robotics and Automation, 2008, Pasadena, Estats Units d'Amèrica, pp. 3449-3454, IEEE.
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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, 2009 ASME International Design Engineering Technical Conference, 2009, San Diego, pp. 979-986, ASME.
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S. Hernández and J.M. Mirats Tur. A method to generate stable, collision free configurations for tensegrity based robots, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, Nice, France, pp. 3769-3774, IEEE.
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J.M. Porta and L. Jaillet. Path planning on manifolds using randomized higher-dimensional continuation, Ninth International Workshop on the Algorithmic Foundations of Robotics, 2010, Singapore, in Algorithmic Foundations of Robotics IX, Vol 68 of Springer Tracts in Advanced Robotics, pp. 337-353, 2011, Springer, Berlin.
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N. Rojas, J. Borràs Sol and F. Thomas. A distance-based formulation of the octahedral manipulator kinematics, 2010 IFToMM Symposium on Mechanism Design for Robotics, 2010, Mexico City, Mexico, pp. 1-12.
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C. Rosales, J.M. Porta, R. Suárez and L. Ros. Finding all valid hand configurations for a given precision grasp, 2008 IEEE International Conference on Robotics and Automation, 2008, Pasadena, Estats Units d'Amèrica, pp. 1634-1640, IEEE.
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S. Ulbrich, V. Ruiz de Angulo, T. Asfour, C. Torras and R. Dillman. Rapid learning of humanoid body schemas with kinematic Bezier maps, 9th IEEE-RAS International Conference on Humanoid Robots, 2009, Paris, pp. 431-438, Unknown.
Other Publications
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O. Bohigas and L. Ros. Multi-body singularity equations. Technical Report IRI-TR-10-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2010.
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J.M. Porta, L. Ros and F. Thomas. A linear relaxation technique for the position analysis of multi-loop linkages. Technical Report IRI-TR-08-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.
CUIK (2005-2008)
Journal Publications
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M. Alberich-Carramiñana, F. Thomas and C. Torras. Flagged parallel manipulators. IEEE Transactions on Robotics, 23(5): 1013-1023, 2007.
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J.M. Porta, L. Ros, T. Creemers and F. Thomas. Box approximations of planar linkage configuration spaces. Journal of Mechanical Design , 127(4): 397-405, 2007.
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J.M. Porta, L. Ros, F. Thomas, F. Corcho, J. Cantó and J.J. Pérez. Complete maps of molecular-loop conformational spaces. Journal of Computational Chemistry, 28(13): 2170-2189, 2007.
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V. Ruiz de Angulo and C. Torras. Speeding up the learning of robot kinematics. IEEE Transactions on Neural Networks, 16(6): 1504-1512, 2005.
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C. Torras, F. Thomas and M. Alberich-Carramiñana. Stratifying the singularity loci of a class of parallel manipulators. IEEE Transactions on Robotics, 22(1): 23-32, 2006.
Conference Publications
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M. Alberich-Carramiñana, F. Thomas and C. Torras. On redundant flagged manipulators, 2006 IEEE International Conference on Robotics and Automation, 2006, Orlando, Estats Units d'Amèrica, pp. 783-789, IEEE.
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E. Celaya, T. Creemers and L. Ros. Exact interval propagation for the efficient solution of planar linkages, 12th World Congress in Mechanism and Machine Science, 2007, Besançon, França, pp. 1-7, ASME.
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T. Creemers, J.M. Porta, L. Ros and F. Thomas. Fast multiresolutive approximations of planar linkage configuration spaces, 2006 IEEE International Conference on Robotics and Automation, 2006, Orlando, Estats Units d'Amèrica, pp. 1511-1517, IEEE.
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J.M. Porta. CuikSLAM: A Kinematic-based approach to SLAM, 2005 IEEE International Conference on Robotics and Automation, 2005, Barcelona, Espanya, pp. 2425-2431, IEEE.
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J.M. Porta, J. Cortés, L. Ros and F. Thomas. A space decomposition method for path planning of loop linkages, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, San Diego, Estats Units d'Amèrica, pp. 1882-1888, IEEE .
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J.M. Porta, L. Ros and F. Thomas. Multi-loop position analysis via iterated linear programming, II Robotics: Science and Systems Conference, 2006, Philadelphia, Estats Units d'Amèrica, in Robotics: Science and Systems II, pp. 169-176, MIT Press .
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J.M. Porta, L. Ros and F. Thomas. On the trilaterable six-degree-of-freedom parallel and serial manipulators, 2005 IEEE International Conference on Robotics and Automation, 2005, Barcelona, Espanya, pp. 960-967, IEEE.
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F. Roure, R. Frigola, L. Ros and F. Thomas. Design, implementation, and performance analysis of a Stewart platform-based force sensor, 10th International Research/Expert Conference: Trends in the Development of Machinery and Associated Technology, 2006, LLoret de Mar, Espanya, pp. 1-4, 2006, UPC, Barcelona, Espanya.
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F. Thomas. Solving geometric constraints by iterative projections and backprojections, 2004 IEEE International Conference on Robotics and Automation, 2004, New Orleans, Estats Units d'Amèrica, pp. 1789-1794, IEEE.
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V. Ruiz de Angulo, J. Cortés and T. Simeon. BioCD : An efficient algorithm for self-collision and distance computation between highly articulated molecular models, I Robotics: Science and Systems Conference, 2005, Cambridge, Estats Units d'Amèrica, in Robotics: Science and Systems, pp. 141-148, 2005, MIT Press .
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V. Ruiz de Angulo and C. Torras. Using PSOMs to learn inverse kinematics through virtual decomposition of the robot, 8th International Workshop on Artificial Neural Networks, 2005, Barcelona, Espanya, in Computational Intelligence and Bioinspired Systems, Vol 3512 of Lecture Notes in Computer Science, pp. 701-708, 2005, Springer, Berlin, Alemanya.
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V. Ruiz de Angulo and C. Torras. Exploiting single-cycle symmetries in branch-and-prune algorithms, 13th International Conference on Principles and Practice of Constraint Programming, 2007, Providence, Estats Units d'Amèrica, in Principles and Practice of Constraint Programming - CP 2007, Vol 4741 of Lecture Notes in Computer Science, pp. 864-871, 2007, Springer Verlag, Berlin, Alemanya.
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