Lluís Ros's publications
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Books | Journals | Lecture notesBook chapters | Theses | Talks | Intl. conferences | Spanish conferences

ScopusID: 7004364196 | ResearcherID: L-7914-2014 | ORCID ID: 0000-0002-8338-6062 | Google Scholar 

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Books

Singularities of Robot Mechanisms: Numerical Computation and Avoidance Path Planning
O. Bohigas, M. Manubens, and L. Ros
Series on Mechanisms and Machine Science.
Springer, 2017
ISBN: 978-3-319-32920-8 (Print) 978-3-319-32922-2 (Online)
http://doi.org/10.1007/978-3-319-32922-2

Backcover - Companion web page

Cover of our book "Singularities of Robot
            Mechanisms"


International journals

Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
R. Bordalba, T. Schoels, L. Ros, J. M. Porta, and M. Diehl

Submitted


A Randomised Kinodynamic Planner for Closed-chain Robotic Systems
R. Bordalba, L. Ros, and J. M. Porta
IEEE Transactions on Robotics
Vol. 37, n. 1, pp. 99 - 115, February 2021.

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Planning Wrench-Feasible Motions for Cable-Driven Hexapods
O. Bohigas, M. Manubens, and L. Ros
IEEE Transactions on Robotics
Vol. 32, n. 2, pp. 442-451, March 2016

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The CUIK Suite: Motion Analysis of Closed-chain Multibody Systems
J. M. Porta, L. Ros, O. Bohigas, M. Manubens, C. Rosales, L. Jaillet
IEEE Robotics and Automation Magazine
Vol. 21, No. 3, pp. 105-114, September 2014

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A General Method for the Numerical Computation of Manipulator Singularity Sets
O. Bohigas, D. Zlatanov, L. Ros, M. Manubens, and J.M. Porta
IEEE Transactions on Robotics
Vol. 30, n. 2, pp. 340-351, April 2014

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Planning Singularity-free Paths on Closed-Chain Manipulators
O. Bohigas, M. E. Henderson, L. Ros, M. Manubens, and J. M. Porta
IEEE Transactions on Robotics
Vol. 29, n. 4, pp. 888-898, August 2013


Full text | Animation of Figure 11 | Animation of Figure 12


Singularities of Non-redundant manipulators: A Short Account and a Method for their Computation in the Planar Case
O. Bohigas, M. Manubens, and L. Ros
Mechanism and Machine Theory
Vol. 68, pp. 1-17, October 2013.

Full text | CUIK project
Grasp Optimization under Specific Contact Constraints
C. Rosales, J.M. Porta, and L. Ros
IEEE Transactions on Robotics
Vol. 29, n. 3, pp. 1552-3098, June 2013.

Full text | CUIK project
A Linear Relaxation Method for Computing Workspace Slices of the Stewart Platform
O. Bohigas, L. Ros, and M. Manubens
ASME Journal of Mechanisms and Robotics
Vol. 5, pp. 011005-1-011005-10, February 2013. ISSN: 1942-4302. DOI: 10.1115/1.4007706


Full text | CUIK project

A Complete Method for Workspace Boundary Determination on General Structure Manipulators
O. Bohigas, L. Ros, and M. Manubens
IEEE Transactions on Robotics.
Vol. 28, n. 5, pp. 993-1006, October 2012. ISSN: 1552-3098. DOI: 10.1109/TRO.2012.2196311


Full text | CUIK project

Exact interval propagation for the efficient solution of position analysis problems on planar linkages
E. Celaya, T. Creemers, L. Ros
Mechanism and Machine Theory
Vol. 54, pp. 116-131, August 2012, DOI: 10.1016/j.mechmachtheory.2012.03.005.

Full text | CUIK project

Synthesizing Grasp Configurations with Specified Contact Regions
C. Rosales, L. Ros, J. M. Porta, and R. Suárez
International Journal of Robotics Research.
Vol. 30, n. 3, April 2011. ISSN: 0278-3649. DOI: 10.1177/0278364910370218


Full text | CUIK project

A Linear Relaxation Technique for the Position Analysis of Multi-loop Linkages
J. M. Porta, L. Ros, and F. Thomas
IEEE Transactions on Robotics
Vol. 25, n. 2, pp. 225-239. April 2009. ISSN: 1552-3098. D.O.I.: 10.1109/TRO.2008.2012337


Full text Experiment files | CUIK project

Complete Maps of Molecular Loop Conformational Spaces
J. M. Porta, L. Ros, F. Thomas, F. Corcho, J. Cantó, and J. J. Pérez
Journal of Computational Chemistry
Vol. 28, n. 13, pp. 2170–2189. October 2007. Wiley. ISSN (electronic): 1096-987XN
 

Full text | Seminar slides | CUIK project

Box Approximations of Planar Linkage Configuration Spaces
J. M. Porta, L. Ros, T. Creemers, and F. Thomas
ASME Journal of Mechanical Design
Vol. 129, n. 4, pp. 397-405. April 2007. ASME Press. ISSN 1050-0472

Full text | CUIK project

Performance Analysis of a 3-2-1 Pose Estimation Device
F. Thomas, E. Ottaviano, L. Ros, and M. Ceccarelli
IEEE Transactions on Robotics
Vol. 21, n. 3, pp. 288-297. June 2005. IEEE Press. ISSN 1042-296X

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A Branch-and-Prune Solver for Distance Constraints
J. M. Porta, L. Ros, F. Thomas, and C. Torras
IEEE Transactions on Robotics
Vol. 21, n. 2, pp. 176-187. April 2005. IEEE Press.
ISSN 1042-296X

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Revisiting Trilateration for Robot Localization
F. Thomas and L. Ros
IEEE Transactions on Robotics
Vol. 21, n. 1, pp. 93-101. February 2005
. IEEE Press. ISSN: 1042-296X

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Geometric Methods for Shape Recovery from Line Drawings of Polyhedra
L. Ros and F. Thomas
Journal of Mathematical Imaging and Vision

Vol. 22, n. 1, pp. 5-18. January 2005. Kluwer Academic Publishers. ISSN: 0924-9907


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Towards Shape Representation Using Trihedral Mesh Projections
L. Ros, K. Sugihara, and F. Thomas
The Visual Computer
Vol. 19, n. 2-3, pp. 139-150. May 2003. Springer Verlag. ISSN: 0178-2789.

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An Ellipsoidal Calculus Based on Propagation and Fusion
L. Ros, A. Sabater, and F. Thomas
IEEE Transactions on Systems Man and Cybernetics
Part B. Vol. 32, n. 4, pp. 430-442. August 2002. IEEE Press. ISSN 1083-4419

Full text | Preprint with color figures
| Web page with Maple code
Overcoming Superstrictness in Line Drawing Interpretation
L. Ros and F. Thomas
IEEE Transactions on Pattern Analysis and Machine Intelligence
Vol. 24, n. 4, pp. 456-466. April 2002. IEEE Press. ISSN: 0162-8828

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Smart Schedules streamline distribution maintenance
T. Creemers, L. Ros, J. Riera, C. Ferrarons, and J. Roca

IEEE Computer Applications in Power
Vol. 11, n. 3, pp. 48-53. July 1998. IEEE Press. ISSN 0895-0156.

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Book chapters (ARK, CK, CABLECON)

Randomized Planning of Dynamic Motions Avoiding Forward Singularities
R. Bordalba, L. Ros, and J. M. Porta
In: Advances in Robot Kinematics 2018.
J. Lenarcic and V. Parenti-Castelli (editors)
Springer Proceedings in Advanced Robotics
, vol. 8, pages 170-178. ISBN 978-3-319-93188-3

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Randomized Kinodynamic Planning for Cable-Suspended Parallel Robots
R. Bordalba, J.M. Porta, L. Ros
In: Cable-Driven Parallel Robots.
Gosselin C., Cardou P., Bruckmann T., Pott A. (editors)
Mechanisms and Machine Science, vol. 53, pages 195-206. Springer, 2018. ISBN: 978-3-319-61430-4

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On the Symmetric Molecular Conjectures
J. M. Porta, L. Ros, B. Schulze, A. Sljoka, and W. Whiteley
In Computational Kinematics, F. Thomas and A. Pérez (editors)
Springer Series in Mechanism and Machine Science, vol. 15, pages 175-184. 2014. ISBN: 978-94-007-7213-7
 
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An Open-source Toolbox for Motion Analysis of Closed-chain Mechanisms
L. Ros, J. M. Porta, O. Bohigas, M. Manubens, C. Rosales, and L. Jaillet
In Computational Kinematics, F. Thomas and A. Pérez (editors).
Springer Series in Mechanism and Machine Science, vol. 15, pages 147-154.
2014. ISBN: 978-94-007-7213-7

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Navigating the wrench-feasible C-space of cable-driven hexapods
O. Bohigas, M. Manubens, and L. Ros
In
Cable-Driven Parallel Robots, T. Bruckmann and A. Pott (editors)
Vol. 12 of Mechanisms and Machine Science
Pages 53-68. Springer, 2012. ISBN: 978-3-642-31987-7

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Planning singularity-free force-feasible paths on the Stewart platform
O. Bohigas, M. Manubens and L. Ros
In Advances in Robot Kinematics. J. Lenarcic and M. Husty (editors)
Pages 245-252. Springer, 2012. ISBN: 978-94-007-4619-0

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A Complete Method for Workspace Boundary Determination
O. Bohigas, L. Ros, and M. Manubens
In Advances in Robot Kinematics. J. Lenarcic and M. Stanisic (editors)
Pages 329-338. Springer, 2010. ISBN: 978-90-481-9261-8.

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Distance Constraints Solved Geometrically
F. Thomas, J.M. Porta, and L. Ros
In Advances in Robot Kinematics. G. Galletti and J. Lenarcic (editors)
Pages 31-40. Kluwer Academic Publishers, 2004. ISBN 1402022484.

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Isolating Self-Motion Manifolds on a PlaySatationTM
J.M. Porta, L. Ros, and F. Thomas
In Advances in Robot Kinematics. G. Galletti and J. Lenarcic (editors)
Pages 123-132. Kluwer Academic Publishers, 2004.
ISBN 1402022484.

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Solving Multi-Loop Linkages by Iterating 2D Clippings
J.M. Porta, L. Ros, F. Thomas, and C. Torras
In Advances in Robot Kinematics. F. Thomas and J. Lenarcic (editors)
Pages 255-265. Kluwer Academic Publishers, 2002. ISBN 1402006969.

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Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems
F. Thomas, E. Ottaviano, L. Ros, and M. Ceccarelli
In Advances in Robot Kinematics. F. Thomas and J. Lenarcic (editors)
Pages 107-117. Kluwer Academic Publishers, 2002. ISBN 1402006969

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A Concise Bézier-Clipping Technique for Solving Inverse Kinematics Problems
C. Bombín, L. Ros, and F. Thomas
In Advances in Robot Kinematics. J. Lenarcic and M. M. Stanisic (editors)
Pages 53-60. Kluwer Academic Publishers, 2000. ISBN 0-7923-6426-0.

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Lecture Notes in Computer Science

Efficient Computation of 3D Skeletons by Extreme Vertex Encoding
J. Rodríguez, F. Thomas, D. Ayala, and L. Ros
In Discrete Geometry for Computer Imagery. G. Saniti di Baja, S. Svensson, and I. Nyström (editors)
Lecture Notes in Computer Science. Vol. 2886, pp. 151-160. September 2003. Springer Verlag. ISSN 0303-9743.

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Shape Representation Using Trihedral Mesh Projections
L. Ros, K. Sugihara, and F. Thomas
In Discrete Geometry for Computer Imagery. A. Braquelaire, J.-O. Lachaud, and A. Vialard (editors)
Lecture Notes in Computer Science. Vol. 230, pp. 209-219. January 2002. Springer Verlag. ISSN 0303-9743.

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Degree theses

A Kinematic-Geometric Approach to Spatial Interpretation of Line Drawings
L. Ros (Supervised by Prof. F. Thomas)
Ph.D. Thesis
Technical University of Catalonia, 2002. ISBN 84-699-5751-1

Full text | Web

Percepció Activa per a la Identificació i Localització de Patrons 2D
L. Ros (Supervised by Prof. F. Thomas)
Mechanical Engineering Degree Thesis
Technical University of Catalonia, 1992





Selected invited talks

Numerical Analysis of Robot Linkage Configuration Spaces
L. Ros (joint work with J.M. Porta, M. Manubens, O. Bohigas, and F. Thomas)
Workshop on Rigidity Theory
October 2011. The Fields Institute, Toronto, Canada.

Solving Distance Constraints by Iterative Projections and Backprojections
L. Ros (Joint work with F. Thomas and J.M. Porta)
1st Workshop on Modelling Protein Flexibility and Motions
July 17-22, 2003. Banff International Research Station, Alberta, Canada

A Branch-and-Prune Solver for Systems of Distance Constraints
L. Ros (Joint work with F. Thomas and J.M. Porta)
1st Workshop on Modelling Protein Flexibility and Motions
July 17-22, 2003. Banff International Research Station, Alberta, Canada




International Conference on Robotics and Automation

Randomized kinodynamic planning for constrained systems
R. Bordalba, L. Ros, and J.M. Porta
Proc. of the IEEE International Conference on Robotics and Automation
2018. Brisbane, Australia. IEEE Computer Society Press
DOI: 10.1109/ICRA.2018.8460753

 
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Numerical computation of manipulator singularities
O. Bohigas, D. Zlatanov, L. Ros, M. Manubens and J.M. Porta
Proc. of the IEEE International Conference on Robotics and Automation
Pages 1351-1358. 2012. St. Paul, Minnesota, USA. IEEE Computer Society Press

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A singularity-free path planner for closed-chain manipulators
O. Bohigas, Michael E. Henderson, L. Ros and J.M. Porta
Proc. of the
IEEE International Conference on Robotics and Automation
Pages 2128-2134. 2012. St. Paul, Minnesota, USA. IEEE Computer Society Press

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Finding All Valid Hand Configurations for a Given Precision Grasp
C. Rosales, J. M. Porta, R. Suarez, and L. Ros
Proc. of the IEEE International Conference on Robotics and Automation
Pages 1634-1640. May 19-23, 2008. Pasadena, USA. IEEE Computer Society Press. ISBN 978-1-4244-1647-9.

Full text
 | Video SlidesPoster | Experiment files | CUIK solver web

A Wrench-Sensitive Touchpad Based on a Parallel Structure
R. Frigola, L. Ros, F. Roure, and F. Thomas
Proc. of the IEEE International Conference on Robotics and Automation
Pages 3449-3454. May 19-23, 2008. Pasadena, USA. IEEE Computer Society Press. ISBN 978-1-4244-1647-9.

Full textICRA'08 slides
| IRI seminar slides'05 | Poster  

Fast Multiresolutive Approximations of Planar Linkage Configuration Spaces
T. Creemers, J. M. Porta, L. Ros, and F. Thomas
Proc. of the IEEE International Conference on Robotics and Automation
Pages 1511-1517. May 15-19, 2006. Orlando, Florida. IEEE Computer Society Press. ISBN 0-7803-9505-0.

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On the Trilaterable Six-Degree-of-Freedom Parallel and Serial Manipulators
J. M. Porta, L. Ros, and F. Thomas
Proc. of the IEEE International Conference on Robotics and Automation
Pages 960-967. April 18-22, 2005. Barcelona. IEEE Computer Society Press. ISBN 0-7803-8914-X.

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A Branch-and-Prune Algorithm for Solving Systems of Distance Constraints
J. M. Porta, F. Thomas, L. Ros, and C. Torras
Proc. of the IEEE International Conference on Robotics and Automation
Vol. 1, pp. 342-348. September 14-19,  2003. Taipei, Taiwan. IEEE Computer Society Press. ISBN 0-7803-7737-0.

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Coordinate-free Formulation of a 3-2-1 Wire-based Tracking Device using Cayley-Menger Determinants
F. Thomas, E. Ottaviano, L. Ros, and M. Ceccarelli
Proc. of the IEEE International Conference on Robotics and Automation
Vol. 1, pp. 355-361. September 14-19,  2003. Taipei, Taiwan. IEEE Computer Society Press. ISBN 0-7803-7737-0

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On the Computation of the Direct Kinematics of Parallel Spherical Mechanisms Using Bernstein Polynomials
C. Bombín, L. Ros, and F. Thomas
Proc. of the International Conference on Robotics and Automation
Vol. 3, pp. 3332-3337. May 2001. Seoul, South Korea. IEEE Computer Society Press. ISBN 0-7803-6578-X

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Correcting Polyhedral Projections for Scene Reconstruction
L. Ros and F. Thomas
Proc. of the International Conference on Robotics and Automation
Vol. 2., pp. 2126-2133. May 2001. Seoul, South Korea. IEEE Computer Society Press. ISBN 0-7803-6578-X

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Computing Signed Distances between Free-Form Objects
F. Thomas, C. Turnbull, L. Ros, and S. Cameron
Proc. of the International Conference on Robotics and Automation
Vol. 4, pp. 3713-3718. April 2000. San Francisco, USA. IEEE Computer Society Press. ISBN 0-7803-5886-4

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A Simple Characterization of the Infinitesimal Motions Separating General Polyhedra in Contact
E. Staffetti, L. Ros, and F. Thomas
Proc. of the International Conference on Robotics and Automation
Vol. 1, pp. 571-577. May 1999. Detroit, USA. IEEE Computer Society Press. ISBN 0-7803-5180-0-5

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Analysing Spatial Realizability of Line Drawings through Edge-Concurrence Tests
L. Ros and F. Thomas
Proc. of the International Conference on Robotics and Automation
Vol. 4, pp.  3559-3566. May 1998. Leuven, Belgium. IEEE Computer Society Press. ISBN 0-7803-4300-x-5

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Robotics, Science and Systems

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems
M. Manubens, D. Devaurs, L. Ros, and J. Cortés
In: Robotics: Science and Systems IX
Berlin, Germany, 2013
MIT Press

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Global Optimization of Robotic Grasps
C. Rosales, J.M. Porta, and L. Ros
In: Robotics: Science and Systems VII, pp. 1-8
Los Angeles, USA, 2011
MIT Press

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Multi-Loop Position Analysis via Iterated Linear Programming
J. M. Porta, L. Ros, and F. Thomas
In Robotics: Science and Systems II, pp. 169-176
Cambridge, USA, June 2006
G. S. Sukhatme, S. Schaal, W. Burgard, and D. Fox Editors
MIT Press
 

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ASME IDETC

On the numerical classification of the singularities of robot manipulators
O. Bohigas, D. Zlatanov, M. Manubens and L. Ros.
2012 ASME International Design Engineering Technical Conference
Chicago, Illinois, USA.

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A unified method for computing position and orientation workspaces of general Stewart platforms
O. Bohigas, L. Ros and M. Manubens
2011 ASME International Design Engineering Technical Conference
Washington, DC, USA, pp. 959-968

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IROS

A Singularity-Robust LQR Controller for Parallel Robots
R. Bordalba, Josep M. Porta, and L. Ros
Proc. of IEEE Intl. Conference on Intelligent Robots and Systems, 2018
Madrid, Spain, October 2018. In press.

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A Space Decomposition Method for Path Planning of Loop Linkages
J. M. Porta, J. Cortés, L. Ros, and F. Thomas
Proc. of IEEE Intl. Conference on Intelligent Robots and Systems, 2007
29San Diego, USA,  October - 2 November 2007

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International Conference on Pattern Recognition

Shape-from-Image via Cross-Sections
L. Ros and F. Thomas
Proc. of the 15th International Conference on Pattern Recognition
Vol. I, pp. 794-797. September 2000. Barcelona, Spain. IEEE Computer Society Press. ISBN 0-7695-0750-6

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Fast Skeletonization of Spatially Encoded Objects
F. Romero, L. Ros, and F. Thomas
Proc. of the 15th International Conference on Pattern Recognition
Vol. III, pp. 510-513. September 2000. Barcelona, Spain. IEEE Computer Society Press. ISBN 0-7695-0750-6

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IFTOMM

Exact Interval Propagation for the Efficient Solution of Planar Linkages
E. Celaya, T. Creemers, and L. Ros
Proc. of the 12th World Conference in Mechanism and Machine Science
June 17-21, 2007, Besançon, France

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Finding Infinitesimal Motions of Objects in Assemblies Using Grassmann-Cayley Algebra
E. Staffetti, L. Ros, and F. Thomas
Proc. of the 10th World Congress on the Theory of Machines and Mechanisms
Vol. 2. Págs. 584-592. Oulu, Finland. June 1999. Oulu University Press. ISBN 951-42-5289-6

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Other international conferences


Model Predictive Control for a Mecanum Wheeled Robot Navigating Among Obstacles
Iñigo Moreno-Caireta, Enric Celaya, and Lluís Ros
7th IFAC Conf. on Nonlinear Model Predictive Control 2021 (July 11-14). Bratislava (Slovakia)

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Inverse Kinematics by Distance Matrix Completion
J.M. Porta, L. Ros, and F. Thomas
International Workshop on Computational Kinematics
Cassino, Italy. May 4-6 2005.

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A Global Constraint Model for Integrated Routeing and Scheduling on a Transmission Network
L. Ros, T. Creemers, E. Tourouta, and J. Riera
Proc. of the 7th International Conference on Information Networks, Systems and Technologies"
Pages 40-47. Minsk, Belarus. October 2001. ISBN 985-426-692-3

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Numerical Analysis of the Instantaneous Motions of Panel-and-Hinge Frameworks and its Application to Computer Vision
L. Ros and F. Thomas
Proc. of the 2nd Workshop on Computational Kinematics
Pages 199-210. Seoul, South Korea. May 2001. Seoul National University Press

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Applying Delta/Star Reductions for Checking the Spatial Realizability of Line Drawings
L. Ros and F. Thomas
Proc. of the 14th European Workshop on Computational Geometry
Pages 127-131. March 1998. Barcelona, Spain. ISBN B-13764-1998

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Programación Óptima de Tareas de Mantenimiento y Reconfiguración sobre Redes de Media Tensión
L. Ros, T. Creemers, J. Riera, C. Ferrarons, J. Roca, and X. Corbella
Proceedings of the Cuartas Jornadas Luso-Españolas de Ingeniería Eléctrica
Pages 905-911. July 1995. Porto, Portugal. ISBN 972-752-004-9

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Constraint-based Maintenance Scheduling on an Electric Power-Distribution Network
T. Creemers, L. Ros, J. Riera, C. Ferrarons, J. Roca, and X. Corbella
Proc. of the 3rd International Conference and Exhibition on Practical Applications of Prolog
Pages 135-144. April 1995. Paris, France. Alinmead Software Ltd. ISBN 0-9525554-0-9

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PlaNets: Scheduling Activities at Power Utilities
L. Ros, T. Creemers, and J. Riera
COSYTEC Newsletter. N. 4, pp. 1-4. July 1995
Cosytec S.A. Parc Club Orsay Université. 4, Rue Jean Rostand. 91893 Orsay Cedex (France)

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Spanish conferences

Estabilización de una Bola sobre un Plano Utilizando un Robot Paralelo 6-RSS
D. González, L. Ros, y F. Thomas
Actas de las XXXVIII Jornadas de Automática
September 2017. Gijón, Spain.

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Geometric Methods in Robotics

L. Ros, F. Thomas, J. M. Porta, C. Torras, V. Ruiz de Angulo, T. Creemers, J. Cantó, F. Corcho, and A. Sabater
First Workshop on Automation, Vision and Robotics
Pages 33-41. February 2004. Barcelona. ISBN: 84-7653-844-8

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Fast Skeletonization of volumetric objects
J. Rodriguez, L. Ros, D. Ayala and F. Thomas
Actas del XIII Congreso Español de Informática Gráfica
July 2003. La Coruña, Spain.

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Un Modelo Cinemático para la Interpretación Tridimensional de Proyecciones Poliédricas
L. Ros and F. Thomas
Actas de las XIX Jornadas de Automática
Pages 377-382. September 1998. Madrid, Spain.

Full text (All in Spanish)


Percepción Activa para la Identificación y Localización de Patrones 2D. Aplicación a Juntas Parcialmente Solapadas
L. Ros and F. Thomas
Actas del 2o Congreso de la Asociación Española de Robótica
Pages 249-255. November 1991. Zaragoza, Spain

Full text (All in Spanish)




Other publications and press articles

Distribute Power, Water, Telecom over Planet
Inside R&D Alert
13 November 1998. John Wiley & Sons Inc
Available through http://www.wiley.com/technical_insights/.

Millorar la Xarxa Elèctrica
AVUI (Catalan journal)
Sunday 21 April 1996, page 31