2024

83. [RA-L-12]
W. Chen and N. Rojas, "TraKDis: A Transformer-based Knowledge Distillation Approach for Visual Reinforcement Learning with Application to Cloth Manipulation," IEEE Robotics and Automation Letters (RA-L), to appear
ArXiv
Video
Web

82. [RoboSoft-4]
X. Wang and N. Rojas, “Cosserat Rod Modeling and Validation for a Soft Continuum Robot with Self-Controllable Variable Curvature,” Proceedings of the 2024 IEEE International Conference on Soft Robotics (RoboSoft), San Diego CA, USA, 14-17 April, 2024

81. [RA-L-11]
D. Lee, W. Chen, X. Chen, and N. Rojas, "G.O.G: A Versatile Gripper-On-Gripper Design for Bimanual Cloth Manipulation with a Single Robotic Arm," IEEE Robotics and Automation Letters (RA-L), to appear
ArXiv
Video
Web

80. [RA-L-10]
X. Wang, Q. Lu, D. Lee, Z. Gan, and N. Rojas, "A Soft Continuum Robot with Self-Controllable Variable Curvature," IEEE Robotics and Automation Letters (RA-L), Vol. 9, No. 3, pp. 2016 - 2023, 2024
(Paper presented at the 2024 IEEE International Conference on Soft Robotics (RoboSoft), San Diego CA, USA, 14-17 April, 2024)
ArXiv
Video

79. [ICMRE-1] 
D. Lee, W. Chen, and N. Rojas, "Synthetic Data Enables Faster Annotation and Robust Segmentation for Multi-Object Grasping in Clutter," Proceedings of the 10th International Conference on Mechatronics and Robotics Engineering (ICMRE), Milan, Italy, 27-29 February, 2024
Video
Web

2023

78. [RA-L-9] with ICRA
D. Chappell, F. Bello, P. Kormushev, and N. Rojas, "The Hydra Hand: A Mode-Switching Underactuated Gripper with Precision and Power Grasping Modes," IEEE Robotics and Automation Letters (RA-L), Vol. 8, No. 11, pp. 7599 - 7606, 2023
(Paper presented at the 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 13-17 May, 2024)
ArXiv
Video

77. [IROS-4]
W. Chen, D. Lee, D. Chappell, and N. Rojas, "Learning to Grasp Clothing Structural Regions for Garment Manipulation Tasks," Proceedings of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit MI, USA, 1-5 October, 2023
ArXiv
Video
Web
Presentation

76. [ICRA-13]
K. Li, D. Chappell, and N. Rojas, "Immersive Demonstrations are the Key to Imitation Learning," Proceedings of the 2023 IEEE International Conference on Robotics and Automation (ICRA), London, UK, 29 May - 2 June, 2023
ArXiv
Video
Presentation

75. [ICRA-12]
Q. Lu, Z. Gan, X. Wang, G. Bai, Z. Zhang, N. Rojas, "Mechanical Intelligence for Prehensile In-Hand Manipulation of Spatial Trajectories," Proceedings of the 2023 IEEE International Conference on Robotics and Automation (ICRA), London, UK, 29 May - 2 June, 2023
Video
Presentation

2022

74. [RA-L-8] with IROS
K. Li, N. Baron, X. Zhang, and N. Rojas, "EfficientGrasp: A Unified Data-Efficient Learning to Grasp Method for Multi-fingered Robot Hands," IEEE Robotics and Automation Letters (RA-L), Vol. 7, No. 4, pp. 8619 - 8626, 2022
(Paper also selected for presentation at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 23-27 October, 2022)
ArXiv
Video
Presentation

73. [IROS-3]
A.B. Clark, N. Baron, L. Orr, M. Kovac, and N. Rojas, "On a Balanced Delta Robot for Precise Aerial Manipulation: Implementation, Testing, and Lessons for Future Designs,” Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 23-27 October, 2022
Open access
Video
Presentation

72. [T-RO-6]
A.B. Clark and N. Rojas, "Malleable Robots: Reconfigurable Robotic Arms with Continuum Links of Variable Stiffness,” IEEE Transactions on Robotics (T-RO), Vol. 38, No. 6, pp. 3832-3849, 2022
Open access
Video

71. [ICORR-2]
D. Chappell, Z. Yang, H. Wee Son, F. Bello, P. Kormushev, and N. Rojas, "Towards Instant Calibration in Myoelectric Prosthetic Hands: A Highly Data-Efficient Controller Based on the Wasserstein Distance,” Proceedings of the 2022 IEEE RAS/EMBS International Conference on Rehabilitation Robotics (ICORR), Rotterdam, Netherlands, 25-29 July, 2022
Open access
Video
Presentation

70. [EuroHaptics-1]
A. Berkovic, C. Laganier, D. Chappell, T. Nanayakkara, P. Kormushev, F. Bello, and N. Rojas, "A Multi-Modal Haptic Armband for Finger-Level Sensory Feedback from a Prosthetic Hand,” Proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications (EuroHaptics), Hamburg, Germany, 22-25 May, 2022
Open access

69. [ICRA-11]
Z. Yang, A.B. Clark, D. Chappell, and N. Rojas, “Instinctive Real-time sEMG-Based Control of Prosthetic Hand with Reduced Data Acquisition and Embedded Deep Learning Training,” Proceedings of the 2022 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May, 2022
Open access
Video
Presentation

68. [RoboSoft-3]
X. Wang and N. Rojas, “A Data-Efficient Model-Based Learning Framework for the Closed-Loop Control of Continuum Robots,” Proceedings of the 2022 IEEE International Conference on Soft Robotics (RoboSoft), Edinburgh, UK, 4-8 April, 2022
Open access
Video
Presentation

67. [RoboSoft-2]
S. Sarabandi, Q. Lu, G. Chen, and N. Rojas, “In-Hand Manipulation with Soft Fingertips,” Proceedings of the 2022 IEEE International Conference on Soft Robotics (RoboSoft), Edinburgh, UK, 4-8 April, 2022
Open access
Video

66. [RA-L-7] with ICRA
D. Chappell, H.W. Son, A.B. Clark, Z. Yang, F. Bello, P. Kormushev, and N. Rojas, “Virtual Reality Pre-Prosthetic Hand Training with Physics Simulation and Robotic Force Interaction,” IEEE Robotics and Automation Letters (RA-L), Vol. 7, No. 2, pp. 4550 - 4557, 2022
(Paper also selected for presentation at the 2022 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May, 2022)
Open access
Video
Presentation

65. [RAM-1]
A. Ranne, A.B. Clark, and N. Rojas, “Augmented Reality-Assisted Reconfiguration and Workspace Visualisation of Malleable Robots,” IEEE Robotics and Automation Magazine (RAM), Vol. 29, No. 1, pp. 10 - 21, 2022
Open access
Video
Presentation

2021

64. [IJRR-1]
Q. Lu, N. Baron, A.B. Clark, and N. Rojas, “Systematic Object-Invariant In-Hand Manipulation via Reconfigurable Underactuation: Introducing the RUTH Gripper,” International Journal of Robotics Research (IJRR), Vol. 40, No. 12-14, pp. 1402-1418, 2021
Video 1: Summary of the paper
Video 2: Grasping evaluations
Video 2: In-hand manipulation evaluations

63. [ICRA-10]
Q. Lu, J. Wang, Z. Zhang, G. Chen, H. Wang, and N. Rojas, “An Underactuated Gripper based on Car Differentials for Self-Adaptive Grasping with Passive Disturbance Rejection,” Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 30 May - 5 June, 2021
Video
Presentation

62. [ICRA-9]
Q. Lu, N. Baron, G. Bai, and N. Rojas, “Mechanical Intelligence for Adaptive Precision Grasp,” Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 30 May - 5 June, 2021
Video
Presentation

61. [JMD-2]
A.B. Clark, L. Liow, N. Rojas, "Force Evaluation of Tendon Routing for Underactuated Grasping," ASME Journal of Mechanical Design (JMD), Vol. 143, No. 10, 104502 (8 pages), 2021
Video

60. [T-MRB-1]
A.B. Clark, V. Mathivannan, N. Rojas, "A Continuum Manipulator for Open-Source Surgical Robotics Research and Shared Development," IEEE Transactions on Medical Robotics and Bionics (T-MRB), Vol. 3, No. 1, pp. 277 - 280, 2021
arXiv
Video

59. [JMD-1]
N. Baron, A. Philippides, and N. Rojas, "A Dynamically Balanced Kinematically Redundant Planar Parallel Robot," ASME Journal of Mechanical Design (JMD), Vol. 143, No. 8, 083301 (9 pages), 2021

2020

58. [RSS-1]
Q. Lu, N. Baron, A.B. Clark, and N. Rojas, “The RUTH Gripper: Systematic Object-Invariant Prehensile In-Hand Manipulation via Reconfigurable Underactuation,” Proceedings of the 2020 Robotics: Science and Systems conference (RSS), virtual conference, 14-16 July, 2020
Video
Presentation

57. [ICRA-8]
A.B. Clark and N. Rojas, “Design and Workspace Characterisation of Malleable Robots,” Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), virtual conference, 31 May - 31 August, 2020
arXiv
Video
Presentation

56. [RoboSoft-1]
Q. Lu, L. He, T. Nanayakkara, and N. Rojas, “Precise In-Hand Manipulation of Soft Objects using Soft Fingertips with Tactile Sensing and Active Deformation,” Proceedings of the 2020 IEEE International Conference on Soft Robotics (RoboSoft), virtual conference, 15 May - 15 July, 2020
Video
Presentation

55. [RA-L-6] with ICRA
Q. Lu, A.B. Clark, M. Shen, and N. Rojas, “An Origami-Inspired Variable Friction Surface for Increasing the Dexterity of Robotic Grippers,” IEEE Robotics and Automation Letters (RA-L), Vol. 5, No. 2, pp. 2538 - 2545, 2020
(Paper also selected for presentation at the 2020 IEEE International Conference on Robotics and Automation (ICRA), virtual conference, 31 May - 31 August, 2020)
Video
Presentation

54. [RA-L-5] with ICRA
L. He, Q. Lu, SA. Abad, N. Rojas, and T. Nanayakkara, “Soft Fingertips with Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects,” IEEE Robotics and Automation Letters (RA-L), Vol. 5, No. 2, pp. 2714 - 2721, 2020
(Paper also selected for presentation at the 2020 IEEE International Conference on Robotics and Automation (ICRA), virtual conference, 31 May - 31 August, 2020)
Video
Presentation

53. [MMT-5]
N. Baron, A. Philippides, and N. Rojas, “A Robust Geometric Method of Singularity Avoidance for Kinematically Redundant Planar Parallel Robot Manipulators,” Mechanism and Machine Theory (MMT), Vol. 151, 103863, September 2020

52. [T-RO-5]
N. Baron, A. Philippides, and N. Rojas, “On the False Positives and False Negatives of the Jacobian Matrix in Kinematically Redundant Parallel Mechanisms,” IEEE Transactions on Robotics (T-RO), Vol. 36, No. 3, pp. 951-958, 2020
Video
Presentation (at IROS 2020)

51. [TAROS-4]
J. Wang, Q. Lu, A.B. Clark, and N. Rojas, “A Passively Complaint Idler Mechanism for Underactuated Dexterous Grippers with Dynamic Tendon Routing,” Proceedings of the 21st Towards Autonomous Robotic Systems conference (TAROS), virtual conference, 16 September, 2020
Best Paper Award
Video
Presentation

50. [TAROS-3]
M. Shen, A.B. Clark, and N. Rojas, “A Scalable Variable Stiffness Revolute Joint based on Layer Jamming for Robotic Exoskeletons,” Proceedings of the 21st Towards Autonomous Robotic Systems conference (TAROS), virtual conference, 16 September, 2020
Presentation

49. [RA-L-4]
L. Liow, A.B. Clark, and N. Rojas, “OLYMPIC: A Modular, Tendon-Driven Prosthetic Hand with Novel Finger and Wrist Coupling Mechanisms,” IEEE Robotics and Automation Letters (RA-L), Vol. 5, No. 2, pp. 299 - 306, 2020
Video

2019

48. [ICRA-7]
A.B. Clark and N. Rojas, “Stiffness-Tuneable Limb Segment with Flexible Spine for Malleable Robots,” Proceedings of the 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20-24, 2019
Video

47. [RA-L-3] with RoboSoft
Q. Lu and N. Rojas, “On Soft Fingertips for In-Hand Manipulation: Modelling and Implications for Robot Hand Design,” IEEE Robotics and Automation Letters (RA-L), Vol. 4, No. 3, pp. 2471 - 2478, 2019
(Paper also selected for presentation at the 2019 IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea, April 14-18, 2019)
Video

46. [RA-L-2] with RoboSoft
A.B. Clark and N. Rojas, “Assessing the Performance of Variable Stiffness Continuum Structures of Large Diameter,” IEEE Robotics and Automation Letters (RA-L), Vol. 4, No. 3, pp. 2455 - 2462, 2019
(Paper also selected for presentation at the 2019 IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea, April 14-18, 2019)
Video

45. [TAROS-2]
Y.H. Cheung, N. Baron, and N. Rojas, “Full-Rotation Singularity-Safe Workspace for Kinematically Redundant Parallel Robots,” Proceedings of the 20th Towards Autonomous Robotic Systems conference (TAROS), London, UK, July 3-5, 2019

44. [TAROS-1]
V. Nanayakkara, N. Sornkaran, H. Wegiriya, N. Vitzilaios, D. Venetsanos, N. Rojas, M.N. Sahinkaya, and T. Nanayakkara, “A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices,” Proceedings of the 20th Towards Autonomous Robotic Systems conference (TAROS), London, UK, July 3-5, 2019

43. [JMR-6]
N. Baron, A. Philippides, and N. Rojas, "A Novel Kinematically Redundant Planar Parallel Robot Manipulator with Full Rotatability," ASME Journal of Mechanisms and Robotics (JMR), Vol. 11, No. 1, 011008 (8 pages), 2019
Video

2018

42. [Humanoids-1]
G. Bai and N. Rojas, “Self-Adaptive Monolithic Anthropomorphic Finger with Teeth-Guided Compliant Cross-Four-Bar Joints for Underactuated Hands,” Proceedings of the 2018 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Beijing, China, November 6-9, 2018
Video

41. [ARK-2]
N. Baron, A. Philippides, and N. Rojas, “A Geometric Method of Singularity Avoidance for Kinematically Redundant Planar Parallel Robots,” in Advances in Robot Kinematics 2018 (ARK), J. Lenarcic and V. Parenti-Castelli (editors), Springer, 2018
(16th International Symposium on Advances in Robot Kinematics, Bologna, Italy, July 1-5, 2018)

40. [MCHCE-1]
J.M. Porta, N. Rojas, and F. Thomas, "Distance Geometry in Active Structures,”  in Mechatronics for Cultural Heritage and Civil Engineering (MCHCE), E. Ottaviano, A. Pelliccio, V. Gattulli (editors), Springer, 2018

2017

39. [RA-L-1] with IROS
B. Ward-Cherrier, N. Rojas, and N.F. Lepora, “Model-Free Precise In-Hand Manipulation with a 3D-Printed Tactile Gripper,” IEEE Robotics and Automation Letters (RA-L), Vol. 2, No. 4, pp. 2056-2063, 2017
(Paper also selected for presentation at the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 24-28, 2017)
Video

38. [ICORR-1]
N. Rojas and A.M. Dollar, “Distance-Based Kinematics of the Five-Oblique-Axis Thumb Model with Intersecting Axes at the Metacarpophalangeal Joint,” Proceedings of the 2017 IEEE RAS/EMBS International Conference on Rehabilitation Robotics (ICORR), London, UK, July 17-20, 2017
Finalist of the Best Poster Award

37. [ACCESS-1]
O.Y. Kanner, N. Rojas, L.U. Odhner, and A.M. Dollar, “Adaptive Legged Robots through Exactly-Constrained and Non-Redundant Design,” IEEE Access (ACCESS), Vol. 5, pp. 11131-11141, 2017
Video

36. [ICRA-6]
W.G. Bircher, A.M. Dollar, and N. Rojas, “A Two-Fingered Robot Gripper with Large Object Reorientation Range,” Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29 - June 3, 2017
Finalist of the Best Robotic Manipulation Paper Award
Video

35. [ICRA-5]
O.Y. Kanner, N. Rojas, and A.M. Dollar, “Between-Leg Coupling Schemes for Passively-Adaptive Non-Redundant Legged Robots,” Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29 - June 3, 2017
Video

34. [CK-1]
N. Rojas and F. Thomas, “Forward Kinematics of the General Triple-Arm Robot Using a Distance-Based Formulation,” Proceedings of the 7th IFToMM International Workshop on Computational Kinematics (CK), Futuroscope-Poitiers, France, May 22-24, 2017

2016

33. [JMR-5]
R.R. Ma, N. Rojas, and A.M. Dollar, "Spherical Hands: Towards Underactuated, In-Hand Manipulation Invariant to Object Size and Grasp Location," ASME Journal of Mechanisms and Robotics (JMR), Vol. 8, No. 6, 061021 (12 pages), 2016
Video

32. [T-RO-4]
N. Rojas and A.M. Dollar, "Gross Motion Analysis of Fingertip‐Based Within‐Hand Manipulation,” IEEE Transactions on Robotics (T-RO), Vol. 32, No. 4, pp. 1009-1016, 2016

31. [T-RO-3]
N. Rojas, R.R. Ma, and A.M. Dollar, "The GR2 Gripper: An Underactuated Hand for Open-Loop In-Hand Planar Manipulation,” IEEE Transactions on Robotics (T-RO), Vol. 32, No. 3, pp. 763-770, 2016
Video

30. [JMR-4]
N. Rojas and A.M. Dollar, "Classification and Kinematic Equivalents of Contact Types for Fingertip-Based Robot Hand Manipulation," ASME Journal of Mechanisms and Robotics (JMR), Vol. 8, No. 4, 041014 (9 pages), 2016

29. [JMR-3]
N. Rojas and A.M. Dollar, "The Coupler Surface of the RSRS Mechanism,” ASME Journal of Mechanisms and Robotics (JMR), Vol. 8, No. 1, 014505 (5 pages), 2016

28. [REMAR-1]
R.R. Ma, N. Rojas, and A.M. Dollar, "Towards Predictable Precision Manipulation of Unknown Objects with Underactuated Fingers,”  in Advances in Reconfigurable Mechanisms and Robots II (ReMAR), X. Ding, X. Kong, and J.S. Dai (editors), Springer, 2016
(3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Beijing, China, July 20-22, 2015)
Best Student Paper Award

27. [DS-1]
R. Sosa, N. Rojas, J.S. Gero, and Q. Xu, “Visual Divergence in Humans and Computers,” Design Studies (DS), Vol. 42, pp. 56-85, January 2016

2015

26. [MMT-4]
N. Rojas, A.M. Dollar, and F. Thomas, "A Unified Position Analysis of the Dixon and the Generalized Peaucellier Linkages,” Mechanism and Machine Theory (MMT), Vol. 94, pp. 28-40, December 2015

25. [IDETC-2]
O.Y. Kanner, N. Rojas, and A.M. Dollar, "Design of a Passively-Adaptive Three Degree-of-Freedom Multi-Legged Robot with Underactuated Legs,” Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), Boston, Massachusetts, USA, August 2-5, 2015

24. [IJARS-1] 
N. Tan, N. Rojas, R.E. Mohan, V. Kee, and R. Sosa, "Nested Reconfigurable Robots: Theory, Design, and Realization,” International Journal of Advanced Robotic Systems (IJARS), Vol. 12, No. 7, 110 (12 pages), 2015

23. [ICRA-4] 
N. Rojas, J. Borràs, and F. Thomas, "On Quartically-Solvable Robots,” Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 26-30, 2015

22. [DCN-1]
S. Nansai, N. Rojas, R.E. Mohan, R. Sosa, and M. Iwase, "A Novel Approach to Gait Synchronization and Transition for Reconfigurable Walking Platforms,” Digital Communications and Networks (DCN), Vol. 1, No.2, pp. 141-151, 2015

21. [JOR-1]
S. Nansai, R.E. Mohan, N. Tan, N. Rojas, and M. Iwase, "Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator,” Journal of Robotics (JOR), Vol. 2015, Article ID 315673 (15 pages), 2015

20. [AME-1]
S. Nansai, N. Rojas, R.E. Mohan, R. Sosa, and M. Iwase, "On a Jansen Leg with Multiple Gait Patterns for Reconfigurable Walking Platforms,” Advances in Mechanical Engineering, Special Issue on Reconfigurable and Deployable Mechanisms (AME), Vol. 7, No. 3, 1687814015573824 (18 pages), 2015
Video

2014

19. [IROS-2]
N. Rojas and A.M. Dollar, "Characterization of the Precision Manipulation Capabilities of Robot Hands via the Continuous Group of Displacements,” Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, USA, September 14-18, 2014

18. [AIM-1]
V. Kee, N. Rojas, R.E. Mohan, and R. Sosa, "Hinged-Tetro: A Self-reconfigurable Module for Nested Reconfiguration," Proceedings of the 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Besançon, France, July 8-11, 2014
Video

17. [ICRA-3]
R.E. Mohan, N. Rojas, A. Chua, "Design Principles for Robot Inclusive Spaces: A Case Study with Roomba," Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31 - June 7,  2014

2013

16. [RAMConf-1]
R.E. Mohan, N. Rojas, R. Sosa, J. Kaisner, "Robot Inclusive Space Challenge: A Design Initiative," Proceedings of the 6th IEEE International Conference on Robotics, Automation and Mechatronics (RAMConf), Manila, Philippines, November 12-15, 2013

15. [IROS-1]
S. Nansai, N. Rojas, R.E. Mohan, and R. Sosa, "Exploration of Adaptive Gait Patterns with a Reconfigurable Linkage Mechanism,” Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013
Video

14. [ISRM-1]
N. Rojas, R.E. Mohan, and R. Sosa, "Reconfiguration in Linkages by Variable Allocation of Joint Positions: A Modular Design Approach," Proceedings of the 3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM), Singapore, October 2-4, 2013

13. [ICED-1]
R.E. Mohan, N. Rojas, S. Seah, and R. Sosa, "Design Principles for Robot Inclusive Spaces," Proceedings of the 2013 International Conference on Engineering Design (ICED), Design for Harmonies, Vol.4: Product, Service and Systems Design , Seoul, Korea, August 19-22, 2013

12. [T-RO-2]
N. Rojas and F. Thomas, "The Univariate Closure Conditions of All Fully-Parallel Planar Robots Derived From a Single Polynomial," IEEE Transactions on Robotics (T-RO), Vol. 29, No. 3, pp. 758-765, 2013

11. [ICRA-2]
N. Rojas and F. Thomas, "The Closure Condition of the Double Banana and Its Application to Robot Position Analysis," Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013

10. [JMR-2]
N. Rojas and F. Thomas, "Application of Distance Geometry to Tracing Coupler Curves of Pin-Jointed Linkages," ASME Journal of Mechanisms and Robotics (JMR), Vol. 5, No. 2, 021001 (9 pages), 2013

2012

9. [MMT-3]
N. Rojas and F. Thomas, "Formulating Assur Kinematic Chains as Projective Extensions of Baranov Trusses," Mechanism and Machine Theory (MMT), Vol. 56, pp. 16-27, October 2012

8. [ICRA-1]
N. Rojas, J. Borràs, and F. Thomas, "The Octahedral Manipulator Revisited," Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, Minnesota, USA, May 14-18, 2012
Video 

7. [MMT-2]
N. Rojas and F. Thomas, "On Closed-Form Solutions to the Position Analysis of Baranov Trusses," Mechanism and Machine Theory (MMT), Vol. 50, pp. 179-196, April 2012

PhD thesis
N. Rojas, "Distance-Based Formulations for the Position Analysis of Kinematic Chains," PhD thesis, Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, 2012

2011

6. [JMR-1]
N. Rojas and F. Thomas, "Closed-Form Solution to the Position Analysis of Watt-Baranov Trusses Using the Bilateration Method," ASME Journal of Mechanisms and Robotics (JMR), Vol. 3, No. 3, 031001 (10 pages), 2011

5. [IDETC-1]
N. Rojas and F. Thomas, "A Coordinate-Free Approach to Tracing the Coupler Curves of Pin-Jointed Linkages," Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), Washington DC, USA, August 28-31, 2011
Honorable mention, finalist of the Mechanisms and Robotics Committee Best Paper Award
Video

4. [MMT-1]
N. Rojas and F. Thomas, "Distance-Based Position Analysis of the Three Seven-Link Assur Kinematic Chains," Mechanism and Machine Theory (MMT), Vol. 46, No. 2, pp. 112-126, February 2011

3. [T-RO-1]
N. Rojas and F. Thomas, "The Forward Kinematics of 3-RPR Planar Robots: A Review and a Distance-Based Formulation," IEEE Transactions on Robotics (T-RO), Vol. 27, No. 1, pp. 143-150, 2011

2010

2. [SMDR-1]
N. Rojas, J. Borràs, and F. Thomas, "A Distance-Based Formulation of the Octahedral Manipulator Kinematics," IFToMM Symposium on Mechanism Design for Robotics 2010 (SMDR), Mexico City, Mexico, September, 28-29, 2010 

1. [ARK-1]
N. Rojas and F. Thomas, "A Robust Forward Kinematics Analysis of 3-RPR Planar Platforms," in Advances in Robot Kinematics (ARK), J. Lenarcic and M. Stanisic (editors), Springer, 2010
(12th International Symposium on Advances in Robot Kinematics, Piran-Portoroz, Slovenia, June 27 – July 1, 2010)