Research Project

PROSURF: Superfícies programables


National Project

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Project Description

The objective of this project is the design of surfaces that can morph into different shapes on command. The key of our approach is the mathematical treatment of the unit-to-whole and inverse whole-to-unit relation. We are interested on how to efficiently extend the properties of individual cells and neighboring relations to the global motion of a complex surface; and inversely, how to map global surface properties to candidate unit cells. Programmable surfaces could be used for deployable architectural and space systems, morphing power elements such as aircraft wings, turbine blades or solar panel arrays, and biomimetic robotics.

Project Publications

Journal Publications

  • F. Thomas. Approaching dual quaternions from matrix algebra. IEEE Transactions on Robotics, 30(5): 1037-1048, 2014.

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  • J.M. Porta, L. Ros, O. Bohigas, M. Manubens, C. Rosales and L. Jaillet. The CUIK suite: Analyzing the motion closed-chain multibody systems. IEEE Robotics and Automation Magazine, 21(3): 105-114, 2014.

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  • N. Rojas and F. Thomas. Formulating Assur kinematic chains as projective extensions of Baranov trusses. Mechanism and Machine Theory, 56: 16-27, 2012.

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  • F. Thomas and J. Borràs. On the primal and dual forms of the Stewart platform pure condition. IEEE Transactions on Robotics, 28(6): 1205-1215, 2012.

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Conference Publications

  • P. Grosch and F. Thomas. A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan, pp. 953-958.

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