Papers
8
Total Citations
187
H-Index
6
About
Montserrat Manubens is a leading researcher in robot kinematics, with a focus on motion planning, singularity analysis, and cable-driven systems. Her work addresses fundamental challenges in robotic manipulation, particularly for complex multibody systems and aerial robots. She pioneered motion planning approaches for 6-D manipulation using aerial towed-cable systems (65 citations), enabling reliable quasi-static control of flying robots—a critical step for industrial and search-and-rescue applications. Manubens also developed the CUIK Suite (38 citations), an open-source toolbox for analyzing closed-chain mechanisms, which has become a valuable resource for researchers studying parallel manipulators and reconfigurable robots. Her contributions to singularity theory include general numerical methods for computing manipulator singularity sets (25 citations) and a classification framework for non-redundant robots (8 citations), providing essential tools for safe and efficient robot control. She has also advanced cable-driven hexapods by planning wrench-feasible motions that maintain cable tension limits (20 citations). Manubens’ work is widely cited and has practical implications for robot design, path planning, and automation.
Research Focus
Key Achievements
Top Papers
- 1Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems65 citations · 2013
- 2The CUIK Suite: Analyzing the Motion Closed-Chain Multibody Systems38 citations · 2014
- 3Singularities of Robot Mechanisms25 citations · 2016
- 4
- 5Planning Wrench-Feasible Motions for Cable-Driven Hexapods20 citations · 2016
- 6
- 7An Open-Source Toolbox for Motion Analysis of Closed-Chain Mechanisms4 citations · 2013
- 8Singularity-Free Path Planning2 citations · 2016