Lluís Ros Giralt

Científico Titular


Subline:

Kinematics and Robot Design


E-mail ros (at) iri.upc.edu

Phone 93 4017340

Web http://www.iri.upc.edu/people/ros

Lluís Ros received the Mechanical Engineering degree (1992) and the Ph.D. degree in Robotics (2000) from the Technical Univ. of Catalonia. From 1993 to 1996 he worked with the Control of Resources Group of Institut de Cibernètica (Barcelona). He joined IRI in 1997, where he is a Faculty Researcher since 2004. He has been a visiting scholar at York University, Tokyo University, and LAAS (CNRS). His research interests include geometry and computational kinematics, with applications to robotics.

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Publications

  • O. Bohigas, Michael E. Henderson, L. Ros, M. Manubens and J.M. Porta. Planning singularity-free paths on closed-chain manipulators. IEEE Transactions on Robotics, 2013, to appear.

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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, 68: 1-17, 2013.

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  • C. Rosales, J.M. Porta and L. Ros. Grasp optimization under specific contact constraints. IEEE Transactions on Robotics, 29(3): 746-757, 2013.

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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, 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, 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. 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, 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, 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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  • 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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