Papers
19
Total Citations
152
H-Index
8
About
Lucas Molina is a robotics researcher whose work spans inverse kinematics, mobile manipulation, and human-robot interaction. His most significant contributions center on solving the complex inverse kinematics (IK) problem for redundant robotic systems. He developed M-FABRIK, a novel IK approach for mobile manipulator robots that adapts the computer graphics FABRIK algorithm to handle high kinematic redundancy (22 citations), and later extended this work with FABRIK-R for fixed manipulators (13 citations). Molina also pioneered FRPSO (Fully Resampled Particle Swarm Optimization), a meta-heuristic IK solver that avoids matrix inversion, with applications to both manipulators and mobile robots (28 combined citations). His research on parametric uncertainties in mobile robot velocity and pose estimation (17 citations) provides quantifiable models for real-world deployment. Earlier work includes a vision system for weld line detection using a modified Hough transform (18 citations) and strategies for multi-robot pursuit-evasion (10 citations). With over 120 total citations across his portfolio, Molina’s work bridges theoretical rigor and practical robotics challenges, making him a notable figure in inverse kinematics and mobile robotics.
Research Focus
Key Achievements
Top Papers
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- 4FABRIK-R: An Extension Developed Based on FABRIK for Robotics Manipulators13 citations · 2021
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- 6Heuristics for the Multi-Robot Worst-Case Pursuit-Evasion Problem10 citations · 2017
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