O. Bohigas

About

O. Bohigas is a leading researcher in the kinematics and motion analysis of complex robotic systems, with a particular focus on closed-chain mechanisms and parallel manipulators. His major contributions lie in the development of general, numerical methods for computing and classifying manipulator singularities—critical for robot control and design. His work on the CUIK Suite, an open-source toolbox for analyzing the motion of closed-chain multibody systems, has been widely adopted, with his most-cited paper (2014) accumulating 38 citations. Bohigas has also advanced the planning of wrench-feasible motions for cable-driven hexapods, ensuring cable tensions remain within safe limits. His 2016 paper on singularities of robot mechanisms and his 2013 method for numerical computation of singularity sets each have 25 citations, underscoring their impact. Notable achievements include providing a general framework for singularity classification (2012) and singularity-free path planning (2016). His work bridges theory and practice, offering essential tools for robotics researchers and engineers tackling the challenges of complex, articulated systems.

Research Focus

Key Achievements

Top Papers

1. 1
   The CUIK Suite: Analyzing the Motion Closed-Chain Multibody Systems

   38 citations · 2014
2. 2
   Singularities of Robot Mechanisms

   25 citations · 2016
3. 3
   A General Method for the Numerical Computation of Manipulator Singularity Sets

   25 citations · 2013
4. 4
   Planning Wrench-Feasible Motions for Cable-Driven Hexapods

   20 citations · 2016
5. 5
   On the Numerical Classification of the Singularities of Robot Manipulators

   8 citations · 2012
6. 6
   An Open-Source Toolbox for Motion Analysis of Closed-Chain Mechanisms

   4 citations · 2013
7. 7
   Singularity-Free Path Planning

   2 citations · 2016

Key Collaborators

Contact & Links