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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R. Bordalba, L. Ros and J.M. Porta. A randomized kinodynamic planner for closed-chain robotic systems. IEEE Transactions on Robotics, 2020, to appear.
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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 3D 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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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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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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