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About

Jordi Casanovas is a robotics researcher whose work focuses on the design and control of holonomic mobile robots for domestic assistance. His primary research areas include mechanical design, motion control, and vibration analysis for personal service robots. Casanovas made significant contributions through his work on the Assistant Personal Robot (APR), particularly in developing its three-wheel holonomic motion system, which enables omnidirectional movement in tight home environments. His most cited paper (54 citations) details the complete design, implementation, and validation of this system, covering both mechanical and electronic aspects. He further advanced the field by investigating vibration patterns in tower-typed mobile robots, comparing rigid structures with those incorporating passive suspension systems (16 citations). Casanovas also explored complex manipulation tasks, such as door-opening strategies for assistant robots. His work has been instrumental in improving the mobility and stability of personal robots operating in human-centered environments, directly addressing challenges of navigation and interaction in confined spaces.