Josep Maria Porta Pleite

Científico Titular


Subline:

Kinematics and Robot Design


E-mail porta (at) iri.upc.edu

Phone 93 4015810

Internal Phone 93 4013018

Web http://www.iri.upc.edu/people/porta

Josep M. Porta received the degree in Computer Science in 1994, and the Ph.D. degree in Artificial Intelligence in 2001, both from the UPC. From 2001 to 2003 he held a postdoctoral position at the University of Amsterdam. Currently, he is an Associate Researcher at CSIC and his research interests include motion planning, collaborative robots, computational kinematics, and planning under uncertainty.

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Publications

  • A. Shabani, J.M. Porta and F. Thomas. A branch-and-prune method to solve closure equations in dual quaternions. Mechanism and Machine Theory, 164: 104424, 2021.

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  • T. Marchi, G. Mottola, J.M. Porta, F. Thomas and M. Carricato. Position and singularity analysis of a class of planar parallel manipulators with a reconfigurable end-effector. Machines, 9(1): 7, 2021.

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  • R. Bordalba, L. Ros and J.M. Porta. A randomized kinodynamic planner for closed-chain robotic systems. IEEE Transactions on Robotics, 37(1): 99-115, 2021.

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  • F. Thomas and J.M. Porta. Clifford’s identity and generalized Cayley-Menger determinants, 17th International Symposium on Advances in Robot Kinematics, 2020, Ljubljana, Slovenia, in Advances in Robot Kinematics 2020, Vol 15 of Springer Proceedings in Advanced Robotics, pp. 285-292, Springer.

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  • T. Marchi, G. Mottola, J.M. Porta, F. Thomas and M. Carricato. Position analysis of a class of n-RRR planar parallel robots, 3rd International Conference of the IFToMM Italy, 2020, Online, in Advances in Italian Mechanism Science, Vol 91 of Mechanisms and Machine Science Series, pp. 353-361, Springer.

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  • S. Sarabandi, A. Shabani, J.M. Porta and F. Thomas. On closed-form formulas for the 3-D nearest rotation matrix problem. IEEE Transactions on Robotics, 36(4): 1333-1339, 2020.

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  • M. Faria, A. Valls, E. Prats, J. Bedrossiantz, M. Orozco, J.M. Porta, L.M. Gómez-Oliván and D. Raldúa. Further characterization of the zebrafish model of acrylamide acute neurotoxicity: gait abnormalities and oxidative stress. Scientific Reports, 9(7075): 1-7, 2019.

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  • A. Bazaga, M. Roldán, C. Badosa, C. Jiménez-Mallebrera and J.M. Porta. A convolutional neural network for the automatic diagnosis of collagen VI-related muscular dystrophies. Applied Soft Computing, 85: 105772, 2019.

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  • R. Bordalba, L. Ros and J.M. Porta. A randomized kinodynamic planner for closed-chain robotic systems. Technical Report IRI-TR-19-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2019.

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  • A. Shabani, S. Sarabandi, J.M. Porta and F. Thomas. A fast branch-and-prune algorithm for the position analysis of spherical mechanisms, 15th IFToMM World Congress on Mechanism and Machine Science, 2019, Krakow, Poland, in Advances in Mechanism and Machine Science, Vol 73 of Mechanism and Machine Science, pp. 549-558, Springer.

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PhD Theses as supervisor