|If people do not believe that mathematics is
simple, it is only because they
do not realize how complicated life is.
~John Von Neumann
Jan. 2018 - Present: Researcher at IRI, Barcelona,
working at the ERC advanced grant CLOTHILDE.
Click here for my
Google Scholar Profile.
My first postdoc, at the GrabLab, Yale University, I applied my knowledge about parallel robots to the kinetostatics of hands holding objects with precision grasps, that have similar structure to a parallel manipulator. For hands, the legs are the fingers and the platform the object being manipulated.
During my postdoc at the High Perfomance Humanoid
Technologies Lab (H2T),
I worked on several approaches to transfer properties of
grasping to whole-body support poses using multi-contacts,
that share similar structure than a hand holding an
object, in this case, the hand is the robot and the object
is the environment. I also worked on innovative gripper
My research interest are in Geometry and Kinematics with
applications to parallel robots, hand kinematics,
grasping/manipulation and whole-body motions.
Rob˛tica i InformÓtica Industrial
jborras at iri dot upc dot edu
From parallel robots
Geometrical design of Stewart-Gough platform. Geometries with generic architecture but simplified kinematics and singularties.
Decoupled SGP and implementation of the Octahedral SGP without multiple joints
Singularity invariant reconfigurations of the octahedral SPG
To robotic hands holding objects
Equivalence between the 3-URS and 3-UR fingered robotic hand
Influence of the compliant joints in parallel platform/hands workspaces
Dexterous manipulation workspace of underactuated hands
To whole-body postures with multi-contacts
Connections between grasping and whole-body posture balance with multi-contacts
Automatic detection of body support contacts from motion data
Taxonomy of Whole-Body Support Poses (click to make bigger)