I'm a robotics engineer currently working at Beta Robots. I also finished my PhD in Robotics at the Institut de Robòtica i Informàtica Industrial under the supervision of Lluís Ros and Josep M Porta in 2021.

My research seeks to contribute to the fields of planning and control of closed-chain systems. My current interests include kinematics, dynamics and control, with applications to robotics.

The purpose of my thesis is to provide reliable algorithms to solve the kinodynamic planning and tracking control problems in closed-chain systems.

My publications

Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
R. Bordalba, T. Schoels, L. Ros, J. M. Porta, and M. Diehl
To be published in IEEE Transactions on Robotics (T-RO)

[video]

A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
R. Bordalba, L. Ros, and J. M. Porta
IEEE Transactions on Robotics (T-RO), 2021

[pdf] [video]

A Singularity-robust LQR Controller for Parallel Robots
R. Bordalba, J. M. Porta, and L. Ros
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

[pdf] [video]

Randomized Planning of Dynamic Motions avoiding Forward Singularities
R. Bordalba, L. Ros, and J. M. Porta
16th International Symposium on Advances in Robot Kinematics (ARK), 2018

[pdf]

Randomized Kinodynamic Planning for Constrained Systems
R. Bordalba, L. Ros, and J. M. Porta
IEEE International Conference on Robotics and Automation (ICRA), 2018

[pdf]

Randomized Kinodynamic Planning for Cable-suspended Parallel Robots.
R. Bordalba, L. Ros, and J. M. Porta
3rd International Conference on Cable-driven Parallel Robots (CableCon), 2017

[pdf]

Contact me: rbordalba@iri.upc.edu