Federico Thomas

Profesor de Investigación

Subline:

Kinematics and Robot Design

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

TERRINET: The European robotics research infrastructure network

European Project

Start Date: 01/12/2017

Publications

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: 1-13, 2022, to appear.

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
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.

Abstract Info PDF
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.

Abstract Info PDF
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.

Abstract Info PDF
S. Sarabandi, A. Perez and F. Thomas. On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices. Advances in Applied Clifford Algebras, 29: 49, 2019.

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

European Project

Start Date: 01/12/2017

Publications

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: 1-13, 2022, to appear.

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.

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.

S. Sarabandi, A. Perez and F. Thomas. On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices. Advances in Applied Clifford Algebras, 29: 49, 2019.