Jm Porta

• Associate editor of the IEEE Transactions on Robotics (2015-2018)


• Researcher at the Kinematics and Robot Design group at IRI (since 2004).


• Post-doc at the University of Amsterdam working on the Ambience project (2002-2003).


• The Legged Robots group at IRI (1994-2001).

• Ricard Bordalba Phd Students co-advised with Lluís Ros.
  Works on kinodynamic planning for constrained robotic systems.


• Arya Shabani Phd Students co-advised with Federico Thomas.
  Works on the position analysis of mechanisms using multi-affine formulations.


• Hector Castillo summer internship coming from MIT.
  Works on the analysis and construction of a 3-UPU reconfigurable parallel robot.


• Antonella Masini summer internship coming from MIT.
  Works on the construction and control of a ball-and-plate system based on a spherical parallel robot.


• Mathilde de Jaureguiberry summer internship coming from the Grenoble Institute of Engineering.
  Develops computer vision tools for the diagnostic of collagen VI-related muscular distrophies.

• A graphical interface for the CuikSuite.
• Analyzing protein motions.
• Manipulability-guided path planning.
• Parallel AtlasRRT.
• Inverse kinematic techniques for the motion planning of cooperative robots./li>
• Fast marching methods for closed-chain motion planning.

If you are interested in any of them or if you have any Degree/Master project proposal related to these subjects, please contact me.

• Full list. Also available at Google Schoolar.

• The CuikSuite 3.0: Position analysis and motion planning on manifolds
  • Updated: August-2019.
  • Last main feature: Kinodynamic planning.
  • Papers: ICRA18, ARK18, IROS18
  • Documentation.
  • Code (84 Mb).
  • Previous versions:
  • Version 2.1: Including path planning with tensegrity structures (2015)
  • Papers: IJSS16.
  • Documentation.
  • Code (131 Mb).
  • Version 2.0: Position analysis and path planning on manifolds (2014)
  • Tutorial: RAM14.
  • Papers: WAFR10, ISSR11, RSS11, IJRR11, IJRR12, RSS12, ICRA12a, ICRA12b, JCC13, CK13, TRO13a, TRO13b, TRO13d, TRO13e, RAS13, TRO14.
  • Documentation.
  • Code (84 Mb).
  • Version 1.0: Position analysis (2004-2009)
  • Papers: ICRA06, RSS06, JMD07, ICRA08, TRO09.
  • Documentation.
  • Code (87 Mb).

• Cuik-KDtree: Yet another nearest neighbor library for motion planning. This library allows sampling using the kd-tree (2014)
  • Updated: April-2015.
  • Documentation.
  • Code (115 kb).

• MPNN: Nearest neighbor library for motion planning (2013)
  • Minor modification over the code of A. Yershova and S. LaValle.
  • Documentation.
  • Code (40 kb).

• RigidCLL: Efficient atomic interaction detection in molecular problems (2013)
  • Papers: JCC12.
  • Documentation.
  • Code (400 kb).

• Pose SLAM: Efficient SLAM with pose-only maps (2008-2009)
  • Papers: IROS09, ECMR09, TRO10, RAS11.
  • Documentation.
  • Code (260 kb).

• C-POMDP: POMDPs in continuous spaces (2005-2009)
  • Papers: RSS05, JMLR06.
  • Documentation.
  • Download:
    • Code (1.5 Mb).
    • Code with solution files (324 Mb, strongly recommended).

• IM: Image moments toolbox (2006)
  • Paper: JMIV06.
  • Code (125 Kb).

• LegSim: Legged robot simulator (1996-2005)
  • Papers: ICRA96, RAM98, RAS04, JAIR05.
  • Documentation.
  • Download page.