I received the telecommunications engineering degree in 1984, and the Ph.D. degree in computer science in 1988, both from the Technical University of Catalonia (UPC).

In 1991, I won a NATO postdoctoral fellowship at the University of Massachusetts. In 1999, I was visiting professor at the Oxford University Computing Laboratory. I was also invited professor at the Ecole Central de Nantes and the University of  Ferrara.

I am currently serving as an associated editor of IEEE Transactions on Robotics, ASME Journal of Mechanisms and Robotics, and The International Journal of Mechanics and Control. I already served as an associate editor of IEEE Transactions on Robotics, from 2005 to 2009, and of the ASME Journal of Mechanisms and Robotics, from 2009 to 2012.

My current position is Professor of Research of the Spanish National Research Council (CSIC) at IRI, and my current research interests are in Geometry and Kinematics with applications to Robotics, Computer Graphics and Computer Vision.

I was former director of the Instituto de Robótica e Informática Industrial (IRI).