Júlia Borràs Sol
Científica Titular
Vice-Director
Subline:
Perception and Manipulation
jborras (at) iri.upc.edu
http://www.juliaborrassol.com
Júlia studied Mathematics and Computer Science at the UPC and UOC, respectively. In 2011 she obtained her PhD degree at IRI, after which she did 7 years of research abroad, at Yale University and Karlsruhe Institute of Technology working on manipulation and locomotion problems. Since 2018 she joined back IRI under the Clothilde project. In 2019 she won the Ramon y Cajal scholarship and in summer 2020 she has become a permanent research associate.
As leader
As contributor
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KINODYN: Kinodynamic planning of efficient and agile robot motions
National Project
Start Date: 01/01/2018
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SGR RobIRI: Grup consolidat de Percepció i Manipulació Robotitzada de l'IRI
Regional Project
Start Date: 01/01/2017
Publications
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I. Garcia-Camacho, J. Borràs and G. Alenyà. Benchmarking cloth manipulation using action graphs: an example in placing flat, 2021 IROS Workshop on Benchmarking of robotic grasping and manipulation: protocols, metrics and data analysis, 2021, Online, pp. 1-3, to appear.
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M. Arduengo, A. Colomé, J. Borràs, L. Sentis and C. Torras. Task-adaptive robot learning from demonstration with Gaussian process models under replication. IEEE Robotics and Automation Letters, 6(2): 966-973, 2021.
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I. Geer, M. Maceira, J. Borràs, C. Torras and G. Alenyà. Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor, 2020 IROS Workshop on Robotic Manipulation of Deformable Objects, 2020, Online, pp. 1-6.
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S. Donaire, J. Borràs, G. Alenyà and C. Torras. A versatile gripper for cloth manipulation. IEEE Robotics and Automation Letters, 5(4): 6520-6527, 2020.
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J. Borràs, G. Alenyà and C. Torras. A grasping-centered analysis for cloth manipulation. IEEE Transactions on Robotics, 36(3): 924-936, 2020.
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I. Garcia-Camacho, M. Lippi, M.C. Welle, H. Yin, R. Antanova, A. Varava, J. Borràs, C. Torras, A. Marino, G. Alenyà and D. Kragic. Benchmarking bimanual cloth manipulation. IEEE Robotics and Automation Letters, 5(2): 1111-1118, 2020.
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J. Borràs, R. Heudorfer, S. Rader, P. Kaiser and T. Asfour. The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, Madrid, pp. 4590-4597.
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N. Rojas, J. Borràs and F. Thomas. On quartically-solvable robots, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, pp. 1410-1415.
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J. Borràs, F. Thomas and C. Torras. New geometric approaches to the analysis and design of Stewart-Gough platforms. IEEE/ASME Transactions on Mechatronics, 19(2): 445-455, 2014.
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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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PhD Theses as supervisor
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Benchmarks for garment manipulation
Student:
Irene Garcia Camacho
Started:
15/10/2019
Description
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Topological measures to plan flexible objects bimanual robotic manipulation
Student:
Antonio Gonzalez Fernandez
Started:
01/10/2020
Description
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