- One of the projects of Labora, the new open laboratory of assistance robotics of the Institute of Robotics and Industrial Informatics, CSIC-UPC.
an open thrust-torque-controlled robot for research on agile aerial-contact motion
Part of Phd Thesis.
Publication - IEEE Robotics and Automation Letters. Page 1066 – 1072. July 8, 2016. andICRA 2016 http://ieeexplore.ieee.org/ Geometric Path Planning Without Maneuvers for Nonholonomic Parallel Orienting Robots.
Game implementation for Group Theory Teaching
Matlab Simulation 4RbRPS Robot
Publication - ICRA 2010 http://ieeexplore.ieee.org/ Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints
4RbRPS Robot implementation showing a manoeuvre. Manoeuvre consists of several steps of changing Leg length from max to min and vice-versa at each end of the stroke a switching of the clutches, [2,4]-[1,3], is done. The normal behaviour of the platform is a rotation of its pose around Z axis, but in the special pose where all legs axis cross the centre of platform and the platform is flat, there is a stagnation of the rotation, no matter the number of iterations of the manoeuvre.
4RbRPS Robot (special case - rotation stagnation)