Júlia Borràs Sol
Postdoc
Subline:
Perception and Manipulation
jborras (at) iri.upc.edu
93 4013110
http://www.juliaborrassol.com
Julia studied Mathematics and Computer Science at the UPC and UOC,respectively, and in 2011 she obtained her PhD degree at IRI, on a geometric problem related to the design and singularities of parallel robots. She was a 2 years postdoc at Yale University working on dextrous underactuated robotic hands and 4 years at the Karlsruhe Institute of Technology working on contact based analysis of locomotion and design of novel grippers. Since 2018 she joined back IRI under the Clothilde project.
As leader
As contributor
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KINODYN: Kinodynamic planning of efficient and agile robot motions
National Project
Start Date: 01/01/2018
Publications
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J. Borràs Sol, 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 Sol 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 Sol, 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 Sol. 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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N. Rojas, J. Borràs Sol and F. Thomas. The octahedral manipulator revisited, 2012 IEEE International Conference on Robotics and Automation, 2012, St. Paul, Minnesota, USA, pp. 2293-2298, IEEE.
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J. Borràs Sol, F. Thomas and C. Torras. New geometric approaches to the singularity analysis of parallel platforms, 2011 Workshop de Robótica Experimental, 2011, Seville, pp. 173-180.
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J. Borràs Sol, F. Thomas and C. Torras. Singularity-invariant families of line-plane 5-SPU platforms. IEEE Transactions on Robotics, 27(5): 837-848, 2011.
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J. Borràs Sol, F. Thomas and C. Torras. Architectural singularities of a class of pentapods. Mechanism and Machine Theory, 46(8): 1107-1120, 2011.
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N. Rojas, J. Borràs Sol and F. Thomas. A distance-based formulation of the octahedral manipulator kinematics, 2010 IFToMM Symposium on Mechanism Design for Robotics, 2010, Mexico City, Mexico, pp. 1-12.
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J. Borràs Sol, F. Thomas and C. Torras. A family of quadratically-solvable 5-SPU parallel robots, 2010 IEEE International Conference on Robotics and Automation, 2010, Anchorage, pp. 4703-4708.
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Master theses as supervisor
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Robotic manipulation skills for picking and unfolding garments
Student:
Irene Garcia Camacho
Started:
12/02/2019
Description
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TFG (final year projects) as supervisor
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Design and development of a cloth manipulation gripper
Student:
Sònia Donaire Cónsul
Started:
07/02/2019
Description
Info
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