As leader

As contributor

Publications

• 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 3D 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

• P. Grosch and F. Thomas. Parallel Robots With Unconventional Joints. Kinematics and Motion Planning. Volume of Parallel Robots: Theory and Applications. Springer, 2019.

  Abstract Info

• S. Sarabandi and F. Thomas. A survey on the computation of quaternions from rotation matrices. Journal of Mechanisms and Robotics, 11(2): 021006, 2019.

  Abstract Info PDF

• 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.

  Abstract Info PDF

• 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.

  Abstract Info PDF

• A. Makhal, F. Thomas and A. Perez. Grasping unknown objects in clutter by superquadric representation, 2nd IEEE International Conference on Robotic Computing, 2018, Laguna Hills, United States, pp. 292-299, IEEE.

  Abstract Info PDF

PhD Theses as supervisor

• Reconfigurable 3UPU Parallel Robot

  Student:

  Soheil Sarabandi

  Started:

  11/05/2018

  Description Info

• Position Analysis Based on Multi-Affine Formulations and their Approximations

  Student:

  Arya Shabani

  Started:

  23/01/2019

  Description Info