Julia Borras Sol

Journals:

J. Borras, C. Mandery and T. Asfour, “A Whole-Body Support Pose Taxonomy for Multi-Contact Humanoid Robot Motions”, Science Robotics, 20 Dec 2017: Vol. 2, Issue 13, eaaq0560. Free access to full text here!!

P. Kaiser, N. Vahrenkamp, F. Schültje, J. Borràs and T. Asfour, “Extraction of Whole-Body Affordances for Loco-Manipulation Tasks”, International Journal of Humanoid Robotics, Vol. 12, No. 3, pp. 15 - 31, 2015.

J. Borràs and A. Dollar, "Dimensional synthesis of three-fingered robot hands for maximal precision manipulation workspace", International Journal of Robotics Research, Vol.34, no.14, pp.1731-1746, 2015.

J. Borràs and A.M. Dollar, "Analyzing dexterous hands using a parallel robots framework", Autonomous Robots, Vol. 36, no.1-2,pp. 169 -180, 2014

J. Borràs and A.M. Dollar, "Parallel Robots Actuation Torque Reduction Using Joint Compliance", Journal of Mechanisms and Robotics, Vol. 6, no. 2, pp. 021006, 2014.

J. Borràs, F. Thomas and C. Torras, "New Geometric Approaches to the Analysis and Design of Stewart-Gough Platforms", IEEE Transactions on Mechatronics, Vol. 19, no. 2, pp. 445 - 455, 2014.
J. Borràs and F. Thomas, "On the Primal and Dual Forms of the Stewart Platform Pure Condition", IEEE Transactions on Robotics, Vol. 28, bi. 6, pp. 1205 - 1215, 2012.
J. Borràs, F. Thomas and C. Torras,"Architectural Singularities of a Class of Pentapods", Mechanism and Machine Theory, Vol. 46, no. 8, pp. 1107-1120, 2011.
J. Borràs, F. Thomas and C. Torras, "Singularity-Invariant Families of Line-Plane 5-SPU Platforms", IEEE Transactions on Robotics, Vol 27, no. 5, pp. 837-848, 2011.
J. Borràs and R. Di Gregorio, "Polynomial Solution to the Position Analysis of Two Assur Kinematic Chains with Four Loops and the Same Topology,'' Journal of mechanisms and robotics, 1(2): 0210031-0210311, 2009.
J. Borràs, F. Thomas and C.Torras, "On Delta-transforms,'' IEEE Transactions on Robotics, Vol. 26, no. 6, pp. 1225-1236, 2009. [Maple Worksheets (1,12 MB)][Self-motion videos (15,00 MB)]

Conferences:

J. Borràs, R. Heudorfer, S. Rader, P. Kaiser and T. Asfour, “The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018.

T. Asfour, J. Borràs, C. Mandery, P. Kaiser, E. E. Aksoy and M. Grotz, “On the dualities between grasping and whole-body loco-manipulation tasks”, Robotics Research, Springer Proceedings in Advanced Robotics, Springer, 2018.

C. Mandery, J. Borràs, M. Jöchner and T. Asfour, “Using Language Models to Generate Whole- Body Multi-Contact Motions”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5411 - 5418, October 2016.

C. Mandery, M. Plappert, J. Borràs and T. Asfour, “Dimensionality Reduction for Whole-Body Human Motion Recognition”, 19th International Conference on Information Fusion (FUSION), pp. 355 - 362, July, 2016.

C. Mandery, J. Borràs, M. Jöchner and T. Asfour, "Analyzing Whole-Body Pose Transitions in Multi-Contact Motions", IEEE RAS Humanoids Conference, Seoul, Korea, November 2015.
J. Borràs and T. Asfour, "A Whole-Body Pose Taxonomy for Loco-Manipulation Tasks", IEEE/RSJ International Conference on Intelligence Robots and Systems, Hamburg, Germany, Sep-Oct 2015.
J. Borràs and A.M. Dollar, "Framework comparison between a multifingered hand and a parallel manipulator", Computational Kinematics, Barcelona, May 2013.

J. Borràs and A.M. Dollar, "A parallel robots framework to study precision grasping and dexterous manipulation", IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 2013.

J. Borràs and A. M. Dollar, "Static Analysis of Parallel Robots with Compliant Joints for In-Hand Manipulation", 2012 IEEE/RSJ International Conference on Intelligence Robots and Systems, Vilamoura, Portugal, pp.3086 - 3092, October 2012.

I. M. Bullock, J. Borràs, and A. M. Dollar, "Assessing Assumptions in Kinematic Hand Models: A Review", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 139–146 , 24-27 June, 2012.

N. Rojas, J. Borràs, and F. Thomas, "The Octahedral Manipulator Revisited," Proceedings of the 2012 IEEE International Conference on Robotics and Automation, May 14-18, Saint Paul, Minnesota, USA, 2012.

J. Borràs and F. Thomas, "Singularity-Invariant Leg Substitutions in Pentapods", 2010 IEEE/RSJ International Conference on Intelligence Robots and Systems, Taipei, Taiwan, pp. 2766-2771, October 2010.

J. Borràs, F. Thomas and C. Torras, "Singularity Invariant Leg Rearrangements in Doubly-Planar Stewart-Gough Platforms", 2010 Robotics: Science and Systems Conference, Zaragoza, Spain, 2010.

J. Borràs, F. Thomas and C. Torras, "Singularity-Invariant Leg Rearrangements in Stewart-Gough Platforms", Advances in Robot Kinematics, J. Lenarcic and M. Stanisic (editors), Springer Verlag, pp. 421-428, 2010.

J. Borràs, F. Thomas and C. Torras, "A Family of Quadratically-Solvable 5-SPU Parallel Robots", Proccedings of the 2010 IEEE International Conference on Robotics and Automation, pp. 4703-4708 , Anchorage, Alaska, May 3-8, 2010. (PowerPoint Presentation with Videos (3.95MB))

J. Borràs, F. Thomas, E. Ottaviano and M. Ceccarelli, "A Reconfigurable 5-DOF 5-SPU Parallel Platform,'' ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR), King's College of London, London, United Kingdom, June 22-24, 2009.

J. Borràs and F. Thomas, "Kinematics of the Line-Plane Subassembly in Stewart Platforms,'' Proccedings of the 2009 IEEE International Conference on Robotics and Automation, pp. 4094-4099, Kobe, Japan, May 12-17, 2009.

J. Borràs, F. Thomas and C. Torras, "Analyzing the Singularities of 6-SPS Parallel Robots Using Virtual Legs,'' Proc. II International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, pp. 145-150, 2008.

J. Borràs and R. Di Gregorio, "Direct Position Analysis of a Large Family of Spherical and Planar Parallel Manipulators with Four Loops,'' Proc. II International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, pp. 19-29, 2008.

J. Borràs, F. Thomas and C. Torras, "Architecture Singularities in Flagged Parallel Manipulators,'' IEEE International Conference on Robotics and Automation, pp. 3844-3850, 2008.

J. Borràs, E. Ottaviano, M. Ceccarelli, and F. Thomas, "Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities,'' Revista de la Asociación Española de Ingeniería Mecánica, Año 16, Vol. 2, pp. 1047-1052, 2008.

Publications