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 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.M. Porta, N. Rojas and F. Thomas. Distance geometry in active structures. In Mechatronics for Cultural Heritage and Civil Engineering, 115-136. Springer, 2018.
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R. Bordalba, L. Ros and J.M. Porta. Randomized kinodynamic planning for cable-suspended parallel robots, 3rd International Conference on Cable-Driven Parallel Robots, 2017, Quebec, Vol 53 of Mechanisms and Machine Science, pp. 195-206, Springer.
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R. Bordalba, J.M. Porta and L. Ros. Kinodynamic planning on constraint manifolds. Technical Report IRI-TR-17-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2017.
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J.M. Porta and F. Thomas. Closed-form position analysis of variable geometry trusses. Mechanism and Machine Theory, 109: 14-21, 2017.
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F. Thomas and J.M. Porta. Closure polynomials for strips of tetrahedra, 15th International Conference on Advances in Robot Kinematics, 2016, Grasse, France, in Advances in Robot Kinematics, Vol 4 of Springer Proceedings in Advanced Robotics, pp. 303-312, 2018, Springer.
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F. Moreno-Noguer and J.M. Porta. A Bayesian approach to simultaneously recover camera pose and non-rigid shape from monocular images. Image and Vision Computing, 52: 141-153, 2016.
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J.M. Porta, A. Rull and F. Thomas. Sensor localization from distance and orientation constraints. Sensors, 16(7): 1096, 2016.
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J.M. Porta and S. Hernández. Path planning for active tensegrity structures. International Journal of Solids and Structures, 78: 47-56, 2016.
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A. Rull, J.M. Porta and F. Thomas. Distance bound smoothing under orientation constraints, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, pp. 1431-1436.
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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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PhD Theses as supervisor
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Distance Bound Smoothing under Orientation Constraints
Student:
Aleix Rull Sanahuja
Started:
15/02/2013
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Motion Planning under Differential Constraints
Student:
Ricard Bordalba Llaberia
Started:
01/07/2016
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Master theses as supervisor
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Design and Implementation of an Amoeba-Like Robot
Student:
Xiaoxuan Hu
Started:
10/05/2017
Description
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