Josep Maria Porta Pleite
Científico Titular
Subline:
Kinematics and Robot Design
porta (at) iri.upc.edu
93 4010775
93 4013018
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 the Institut de Robòtica i Informàtica Industrial and his research interests include planning under uncertainty and computational kinematics.
Currently he is Associate Editor of the IEEE TRO.
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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A. Bazaga, M.R. , C.B. , C.J. 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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F. Simao, F. Martínez-Jerónimo, V. Blasco, F. Moreno-Noguer, J.M. Porta, J. Pestana, A. Soarez, D. Raldúa and C. Barata. Using a new high-throughput video-tracking platform to assess behavioural changes in Daphnia magna exposed to neuro-active drugs. Science of the Total Environment, 662: 160-167, 2019.
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J.M. Porta and F. Thomas. Yet another approach to the Gough-Stewart platform forward kinematics, 2018 IEEE International Conference on Robotics and Automation, 2018, Brisbane, Australia, pp. 974-980.
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J.M. Porta and F. Thomas. The forward kinematics of doubly-planar Gough-Stewart platforms and the position analysis of strips of tetrahedra, 16th International Symposium on Advances in Robot Kinematics, 2018, Bologna, Italy, in Advances in Robot Kinematics 2018, Vol 8 of Springer Proceedings in Advanced Robotics, pp. 124-132, 2019.
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J.M. Porta, S. Sarabandi and F. Thomas. Angle-bound smoothing with applications in kinematics, 5th IFToMM Asian Conference on Mechanism and Machine Science, 2018, Bengaluru, India, to appear.
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R. Bordalba, L. Ros and J.M. Porta. Randomized planning of dynamic motions avoiding forward singularities, 16th International Symposium on Advances in Robot Kinematics, 2018, Bologna, Italy, in Advances in Robot Kinematics 2018, Vol 8 of Springer Proceedings in Advanced Robotics, pp. 170-178, 2019.
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R. Bordalba, J.M. Porta and L. Ros. A singularity-robust LQR controller for parallel robots, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, Madrid, pp. 270-276.
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R. Bordalba, L. Ros and J.M. Porta. Randomized kinodynamic planning for constrained systems, 2018 IEEE International Conference on Robotics and Automation, 2018, Brisbane, Australia, pp. 7079-7086.
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PhD Theses as supervisor
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Motion Planning under Differential Constraints
Student:
Ricard Bordalba Llaberia
Started:
01/07/2016
Description
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Position Analysis Based on Multi-Affine Formulations and their Approximations
Student:
Arya Shabani
Started:
23/01/2019
Description
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