Borinot: an open thrust-torque-controlled robot for research on agile aerial-contact motion.

Josep Martí-Saumell, Hugo Duarte, Patrick Grosch, Juan Andrade-Cetto, Angel Santamaria-Navarro, Joan Solà

 arXiv preprint arXiv:2307.14686 https://arxiv.org/abs/2307.14686

Parallel Robots With Unconventional Joints - Book

• • • • • Motion Planning for the 3PU Robot,  

        • Kinematics of the 3PU Spatial Robot,   

        • Motion Planning for the -2UPS Robot, 

        • Spherical Non-holonomic Joints,  

        • Parallel Robots with Lockable Revolute Joints,  

        • Introduction: Lockable and Non-holonomic Joints,  

        • Kinematics of the -2UPS Spherical Robot,  

P Grosch, F Thomas

Springer International Publishing  - ISBN 978-3-030-11303-2 https://www.springer.com/gp/book/9783030113032

A reconfigurable asymmetric 3-UPU parallel robot 

S Sarabandi, P Grosch, JM Porta, F Thomas

 2018 International Conference on Reconfigurable Mechanisms and Robots  (ReMAR)  https://ieeexplore.ieee.org/document/8449859   DOI: 10.1109/REMAR.2018.8449859

Uncalibrated visual servo for unmanned aerial manipulation

A Santamaria-Navarro, P Grosch, V Lippiello, J Solà, J Andrade-Cetto

IEEE/ASME Transactions on Mechatronics 22 (4), 1610-1621  https://ieeexplore.ieee.org/document/7879365  DOI: 10.1109/TMECH.2017.2682283

Geometric path planning without maneuvers for nonholonomic parallel orienting robots

P Grosch, F Thomas

 IEEE Robotics and Automation Letters 1 (2), 1066-1072 https://ieeexplore.ieee.org/document/7406692  DOI: 10.1109/LRA.2016.2529688

Parallel robots with unconventional joints to achieve under-actuation and reconfigurability

P Grosch 

Doctoral thesis - Universitat Politècnica de Catalunya

 https://upcommons.upc.edu/entities/publication/82762d08-2c07-4bea-8a98-4577bb48be53  DOI:10.5821/dissertation-2117-96379

The HumanoidLab: Involving students in a research centre through an educational initiative

G. Alenyà, J.L. Rivero, A. Rull, P. Grosch and S. Hernández

6th International Conference on Computer Supported Education,, Barcelona, pp. 213-220  - Scitepress

 https://upcommons.upc.edu/entities/publication/82762d08-2c07-4bea-8a98-4577bb48be53  DOI:10.5821/dissertation-2117-96379

A Bilinear Formulation for the Motion Planning of Non-holonomic Parallel Orienting Platforms.

P. Grosch and F. Thomas. 

 International Conference on Intelligent Robots and Systems. Tokyo, Japan, November 3-8, 2013

https://ieeexplore.ieee.org/document/6696465

Motion planning for parallel robots with non-holonomic joints

K. Tchon, J. Jakubiak, P. Grosch and F. Thomas.

 13th International Symposium on Advances in Robot Kinematics, 2012, Innsbruck, in Latest Advances in Robot Kinematics, pp. 115-122, 2012, Springer.

https://link.springer.com/chapter/10.1007/978-94-007-4620-6_15

Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints

P. Grosch, R. Di Gregorio, J. Lopez and F. Thomas

 2010 IEEE International Conference on Robotics and Automation, 2010, Anchorage, pp. 4697-4702

https://ieeexplore.ieee.org/document/5509305  

A one-motor full-mobility 6-PUS manipulator

P. Grosch, R. Di Gregorio and F. Thomas

2010, Udine, Italy, in ROMANSY 18 Robot Design, Dynamics and Control, , 18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control Vol 524 of CSIM Courses and Lectures, pp. 49-56, 2010, Springer, Wien / New York.

https://link.springer.com/chapter/10.1007/978-3-7091-0277-0_5

Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators

P. Grosch, R. Di Gregorio and F. Thomas

Journal of Mechanisms and Robotics, 2(1): 11005-11012, 2010.

https://asmedigitalcollection.asme.org/mechanismsrobotics/article-abstract/2/1/011005/475579/Generation-of-Under-Actuated-Manipulators-With?redirectedFrom=fulltext

Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study

P. Grosch, R. Di Gregorio and F. Thomas

2009 ASME International Design Engineering Technical Conference, 2009, San Diego, pp. 1-8, ASME

https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2009/49040/979/342317

Planning setpoints for contact force transitions in regrasp tasks of 3D Objects

P. Grosch, R. Suarez, R. Carloni, C. Melchiorri 

IFAC World Congress, Seoul, Korea, July 6-11, 2008. 

https://www.sciencedirect.com/science/article/pii/S1474667016400327

Mechanical hand MA-I as experimental system for grasping and manipulation

R. Suárez y P. Grosch

Video Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, Barcelona, España, Abril 18-22, 2005

Dexterous Robotic Hand MA-I, Software and Hardware Architecture

R. Suárez y P. Grosch

  Intelligent Manipulation and Grasping International Conference, IMG'04, (ISBN 88-900426-1-3), Génova, Italia, Julio 1-2, 2004, pp. 91-96. 

https://iocnet.upc.edu/usuaris/raulsuarez/papers/img04-sg.pdf

Modelado y control de una mano mecánica

R. Suárez y P. Grosch

 1ª Jornada de Recerca en Automàtica, Visió i Robòtica, AVR'2004, (libro ISBN 84-7653-844-8, CD ISBN 84-7653-845-6), Barcelona, 3-4 de febrero de 2004, pp.299-306. 

 https://iocnet.upc.edu/usuaris/raulsuarez/papers/AVR04-gs.pdf

Mano mecánica MA-I

R. Suárez y P. Grosch

XXIV Jornadas de Automática, CEA-IFAC, (ISBN 84-931846-7-5), León, 10-12 de Septiembre, 2003

 https://dialnet.unirioja.es/servlet/articulo?codigo=8942965

Patents

GRIPPER AND PROCEDURE FOR THE SEPARATION OF LAYERS .

 Foix, Salmerón Sergio   Oriol, Lladò Jaume   Borràs, Sol Júlia   Grosch, Obregon Patrick. 

Application Number: EP24382974.4

Publication/Patent Number: EP4711100A1

Publication of WO2026057239A1  https://patentscope.wipo.int/search/en/WO2026057239  https://patents.google.com/patent/WO2026057239A1/es

Tool for cutting and extracting samples.

G. Alenyà, P. Grosch, C. Torras, and M. Palacín. 

Patent application PCT/ES2012/070524

WO 2013/011180 A1 http://hdl.handle.net/10261/92813

 Dispositivo medidor de distancias y magnitudes omnidireccional.

J. Andrade-Cetto, M. Morta, P. Grosch, E. Teniente

Solicitud P201231044, Application date: 04-July-2012