Federico Thomas

Profesor de Investigación

Subline:

Computational Robotics

thomas (at) iri.upc.edu

93 4015757

http://www.iri.upc.edu/people/thomas

Prof. Federico Thomas received the telecommunications engineering degree in 1984 and the Ph.D. degree in computer science in 1988, both from the Technical University of Catalonia, Barcelona, Spain. He was visiting professor at the university of Massachusetts, USA, and at Oxford University, UK. He was also invited professor at the École Centrale de Nantes, France. His current research interests include Distance Geometry and Clifford Algebras, and their application to Kinematics.

Research projects
Publications

Current
Archive

As contributor

KINODYN+: Synthesis of Optimally Agile and Graceful Robot Motions

National Project

Start Date: 01/09/2021

CLOTHILDE: Cloth manipulation learning from demonstration

European Project

Start Date: 01/01/2018

Publications

S. Sarabandi and F. Thomas. Solution methods to the nearest rotation matrix problem in R3: A comparative survey. Numerical Linear Algebra with Applications, 2023, to appear.

Abstract Info PDF
S. Sarabandi and F. Thomas. On closed-form solutions to the 4D nearest rotation matrix problem. Mathematical Methods in the Applied Sciences, 2023, to appear.

Abstract Info PDF
F. Thomas and J.M. Porta. The Distance Geometry of the Generalized Lobster’s Arm, 18th International Symposium on Advances in Robot Kinematics, 2022, Bilbao, Vol 24 of Springer Proceedings in Advanced Robotics, pp. 409-417, Springer.

Abstract Info PDF
F. Thomas. Kinematics of a gear-based spherical mechanism, 18th International Symposium on Advances in Robot Kinematics, 2022, Bilbao, Vol 24 of Springer Proceedings in Advanced Robotics, pp. 323-331, Springer.

Abstract Info PDF
S. Sarabandi, J.M. Porta and F. Thomas. Hand-eye calibration made easy through a closed-form two-stage method. IEEE Robotics and Automation Letters, 7(2): 3679-3686, 2022.

Abstract Info PDF
S. Sarabandi and F. Thomas. Approximating displacements in R^3 by rotations in R^4 and its application to pointcloud registration. IEEE Transactions on Robotics, 38(4): 2652-2654, 2022.

Abstract Info PDF
J. Wu, S. Sarabandi, J.M. Porta, M. Liu and F. Thomas. Yet a better closed-form formula for the 3D nearest rotation matrix problem. Technical Report IRI-TR-21-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2021.

Abstract Info PDF
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.

Abstract Info PDF
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.

Abstract Info PDF
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.

Abstract Info PDF

Federico Thomas

Profesor de Investigación

Subline:

thomas (at) iri.upc.edu

93 4015757

As contributor

National Project

Start Date: 01/09/2021

European Project

Start Date: 01/01/2018

Publications

S. Sarabandi and F. Thomas. Solution methods to the nearest rotation matrix problem in R3: A comparative survey. Numerical Linear Algebra with Applications, 2023, to appear.

S. Sarabandi and F. Thomas. On closed-form solutions to the 4D nearest rotation matrix problem. Mathematical Methods in the Applied Sciences, 2023, to appear.

F. Thomas and J.M. Porta. The Distance Geometry of the Generalized Lobster’s Arm, 18th International Symposium on Advances in Robot Kinematics, 2022, Bilbao, Vol 24 of Springer Proceedings in Advanced Robotics, pp. 409-417, Springer.

F. Thomas. Kinematics of a gear-based spherical mechanism, 18th International Symposium on Advances in Robot Kinematics, 2022, Bilbao, Vol 24 of Springer Proceedings in Advanced Robotics, pp. 323-331, Springer.

S. Sarabandi, J.M. Porta and F. Thomas. Hand-eye calibration made easy through a closed-form two-stage method. IEEE Robotics and Automation Letters, 7(2): 3679-3686, 2022.

S. Sarabandi and F. Thomas. Approximating displacements in R^3 by rotations in R^4 and its application to pointcloud registration. IEEE Transactions on Robotics, 38(4): 2652-2654, 2022.

J. Wu, S. Sarabandi, J.M. Porta, M. Liu and F. Thomas. Yet a better closed-form formula for the 3D nearest rotation matrix problem. Technical Report IRI-TR-21-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2021.

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.

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.

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.