DEXTER: Conception et commande de robots pour la manipulation

L'équipe DEXTER se donne pour objectifs de concevoir, réaliser et commander des robots performants capables de gestes fins, rapides et/ou précis. Pour atteindre ces objectifs, les activités de recherche fondamentales sont systématiquement couplées à des validations expérimentales réalistes facilitant leur valorisation auprès de l’industrie ou du secteur médical. Les thèmes scientifiques de l'équipe incluent des méthodologies de conception mécanique, la proposition d'indices de performance originaux, le développement de protocoles d'estimation et la synthèse de commandes référencées capteur (effort/vision) et/ou modèle (prédictive, adaptative). Privilégiant l’innovation au sein d’une démarche essentiellement mécatronique, les contributions majeures de l'équipe portent sur deux grands domaines :

  • Robotique médicale allant de l'assistance à la personne à l'assistance au chirurgien
  • Robotique parallèle pour des applications industrielles exigeantes en termes de vitesses, précision, dimensions de l’espace de travail et/ou masses des charges transportées

Membres

Permanents

Non permanents

Thématiques de recherche

Les travaux de recherche de l'équipe DEXTER concernent deux thématiques :

  • Robotique médicale
  • Robotique parallèle

Publications principales

  • M. Bennehar, A.Chemori, M. Bouri, L.F. Jenni and F. Pierrot, "A New RISE-based Adaptive Control of PKMs: Design, Stability Analysis and Experiments", International Journal of Control, to appear, 2017.
  • Q. Boehler, S. Abdelaziz, M. Vedrines, P. Poignet, P. Renaud, "From Modeling to Control of a Variable Stiffness Device Based on a Cable-driven Tensegrity Mechanism", Mechanism and Machine Theory, vol 107, 2017.
  • L. Gagliardini, S. Caro, M. Gouttefarde, A. Girin, "Discrete reconfiguration planning for Cable-Driven Parallel Robots," Mechanism and Machine Theory, Vol. 100, pp. 313-337, 2016.
  • F. Despinoy, D. Bouget, G. Forestier, C. Pinet, N. Zemiti, P. Poignet, and P. Jannin, "Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training", IEEE Transactions on Biomedical Engineering, Vol 63, No. 6, pp 1280-1291, 2016.
  • M. Gouttefarde, J. Lamaury, C. Reichert, T. Bruckmann, "A Versatile Tension Distribution Algorithm for n-DOF Parallel Robots Driven by n+2 Cables," IEEE Transactions on Robotics, Vol. 31, No. 6, pp. 1444-1457, 2015.
  • G. Sartori-Natal, A.Chemori and F. Pierrot, "Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment", IEEE Transactions on Control Systems Technology, Vol 23, Issue 4, pp. 1520--1535, 2015.

Collaborations externes

L'équipe DEXTER a noué de nombreux partenariats avec des universités étrangères et centres de recherche. Ces collaborations font l'objet quasi-systématiquement de publications communes. Les partenariats mentionnés ici sont les principales collaborations internationales que nous avons eues entre 2008 et 2013:

  • Université Catholique de Louvain : Thèse en cotutelle B. Hermann, Post-doc J.-F. Collard et accueil de stagiaires
  • Université de Washington: Travaux communs qui débutent sur la plateforme Raven, invitation et participation à l’école d’été (Univ. of Washington) 2010 et 2014 (Carnegie Mellon)
  • Université Waseda (Tokyo) : mobilité de doctorants et post-doctorants japonais
  • Université de Brasilia : Thèse en cotutelle de M. Bernardes
  • Scuela Superiore Santa Anna à Pise : projet européen FP7 ARAKNES avec l’architecture de contrôle d’un robot pour la chirurgie à port unique
  • TECNALIA : Partenaire privilégié dans les appels compétitifs et financeur de 4 thèses CIFRE sur la période 2008-2013.

Faits marquants

L'activité et la reconnaissance de l'équipe DEXTER sur la période 2008-2013 se mesurent à l'aide des chiffres ci-dessous:

  • 5 projets européens durant la période: FP6 NEXT, FP6 ACCUROBAS, FP7 ARAKNES, FP7 CABLEBOT, FP7 ECHORD-PRADA et 7 projets ANR: TecSan ROBACUS, ContInt USCOMP, COGIRO, ARROW, OBJECTIF 100G, SHERPA, PsiRob TREMOR
  • 3 implications dans des initiatives d’excellence (PIA): LABEX CAMI (Robotique médicale), LABEX NUMEV (Aide à la personne malade ou déficiente), EQUIPEX ROBOTEX (Noeud robotique médicale et noeud robotique parallèle)
  • Forte innovation : François PIERROT récipiendaire de la première édition de la médaille de l’innovation du CNRS en 2012. Prix pour l’innovation, ADER Languedoc-Roussillon. 3 brevets acceptés sur la période
  • Best paper Award in Medical Robotics (MICCAI 2010), 4 articles finalistes (IEEE ICRA Best Paper Award (2010 et 2012), IEEE/RSJ IROS Best Application Paper (2009), ICROS Application Paper Award (2010)), 3ème prix du ASME Student Mechanism and Robot Design Competition Graduate Robot Division Award, Conférences invitées au Collège de France
  • 13 Prototypes ou plateformes expérimentales (DUAL-V, R4, VELOCE, Adept QUATTRO, COGIRO, ReelAx8, SHERPA, SPRINT, ARAKNES, RAVEN 3, Plateforme chirurgie Bi-manuelle, Plateforme insertion d’aiguille, Robot à Tubes Concentriques)

Publications depuis 2013 - Evaluation 2019

Articles de revues internationales

2018

  1. Virtual Submerged Floating Operational System for Robotic Manipulation
    Qin Zhang, Jialei Zhang, Ahmed Chemori, Xianbo Xiang
    Complexity, Wiley, 2018, 2018, pp.1-18.
  2. Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering
    Guillaume Lapouge, Jocelyne Troccaz, Philippe Poignet
    Control Engineering Practice, Elsevier, 2018, 80, pp.116-124.
  3. Synthesis Method for the Design of Variable Stiffness Components Using Prestressed Singular Elastic Systems
    Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
    Mechanism and Machine Theory, Elsevier, 2018, 121, pp.598-612.
  4. Toward a standard ontology of surgical process models
    Bernard Gibaud, Germain Forestier, Carolin Feldmann, Giancarlo Ferrigno, Paulo Gonçalves, Tamás Haidegger, Chantal Julliard, Darko Katić, Hannes Kenngott, Lena Maier-Hein, Keno März, Elena De Momi, Dénes Ákos Nagy, Hirenkumar Nakawala, Juliane Neumann, Thomas Neumuth, Javier Rojas Balderrama, Stefanie Speidel, Martin Wagner, Pierre Jannin
    International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2018, 13 (9), pp.1397-1408.
  5. A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay
    Jing Guo, Chao Liu, Philippe Poignet
    Journal of Intelligent and Robotic Systems, Springer Verlag (Germany), In press, pp.1-28.
  6. Automatic robotic steering of flexible needles from 3D ultrasound images in phantoms and ex vivo biological tissue
    Paul Mignon, Philippe Poignet, Jocelyne Troccaz
    Annals of Biomedical Engineering, Springer Verlag, 2018, 46 (9), pp.1385-1396.
  7. Evaluation of Contactless Human-Machine Interface for Robotic Surgical Training
    Fabien Despinoy, Nabil Zemiti, Germain Forestier, Luis Alonso Sanchez Secades, Pierre Jannin, Philippe Poignet
    International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2018, 13 (1), pp.13-24.
  8. Fractional order model reference adaptive control for SCARA robot trajectory tracking
    Yassine Bensafia, Samir Ladaci, Khatir Khettab, Ahmed Chemori
    International Journal of Industrial and Systems Engineering, Inderscience, 2018, 30 (2), pp.138-156.
  9. A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV
    Eduardo Campos Mercado, Jesus Monoroy, Hugo Abundis, Ahmed Chemori, Vincent Creuze, Jorge Torres
    International Journal of Naval Architecture and Ocean Engineering, Elsevier, In press. <10.1016/j.ijnaoe.2018.04.002>

2017

  1. Geometric and mechanical evaluation of 3D-printing materials for skull base anatomical education and endoscopic surgery simulation – A first step to create reliable customized simulators.
    Valentin Favier, Nabil Zemiti, Oscar Caravaca Mora, Gérard Subsol, Guillaume Captier, Renaud Lebrun, Louis Crampette, Michel Mondain, Benjamin Gilles
    PLoS ONE, Public Library of Science, 2017, 12 (12), pp.e0189486.
  2. Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot
    Taavi Salumäe, Ahmed Chemori, Maarja Kruusmaa
    IEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, 2017, pp.1-18.
  3. On decentralized adaptive full-order sliding mode control of multiple UAVs
    Xianbo Xiang, Chao Liu, Hongsheng Su, Qin Zhang
    ISA Transactions, Elsevier, 2017, 71 (Part 2), pp.196-205.
  4. A triangular radial cubic spline deformation model for efficient 3D beating heart tracking
    Bo Yang, Chao Liu, Keli Huang, Wenfeng Zheng
    Signal, Image and Video Processing, Springer Verlag, 2017, 11 (7), pp.1329-1336.
  5. Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems
    Jawhar Ghommam, Ahmed Chemori
    Nonlinear Dynamics, Springer Verlag, 2017, 90 (1), pp.301-315.
  6. Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments
    Eduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, Jorge Antonio Torres Munoz, Rogelio Lozano
    Mechatronics, Elsevier, 2017, 45, pp.49-59.
  7. Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments
    Nahla Haddad, Ahmed Chemori, Safya Belghith
    International Journal of Control, Taylor & Francis, 2017, pp.1-16.
  8. A new RISE-based adaptive control of PKMs: design, stability analysis and experiments
    Moussab Bennehar, Ahmed Chemori, Mohamed Bouri, Laurent Frédéric Jenni, François Pierrot
    International Journal of Control, Taylor & Francis, 2017, pp.1-15.
  9. From Hopf-bifurcation to limit cycles control in underactuated mechanical systems
    Nahla Haddad, Safya Belghith, Hassène Gritli, Ahmed Chemori
    International Journal of Bifurcation and Chaos, World Scientific Publishing, 2017, 27 (07). <10.1142/S0218127417501048>
  10. Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC
    Hassène Gritli, Nahla Khraief, Ahmed Chemori, Safya Belghith
    Nonlinear Dynamics, Springer Verlag, 2017, 89 (3), pp.2195-2226.
  11. Motion prediction via online instantaneous frequency estimation for vision-based beating heart tracking
    Bo Yang, Chao Liu, Wenfeng Zheng, Shan Liu
    Information Fusion, Elsevier, 2017, 35, pp.58-67.
  12. Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method
    Huan Yuan, Eric Courteille, Marc Gouttefarde, Pierre-Elie Hervé
    Journal of Sound and Vibration, Elsevier, 2017, 394, pp.527-544.
  13. From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism
    Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet, Pierre Renaud
    Mechanism and Machine Theory, Elsevier, 2017, 107, pp.1-12.
  14. Control of cable-driven manipulators in the presence of friction
    Salih Abdelaziz, Laurent Barbé, Pierre Renaud, Michel De Mathelin, Bernard Bayle
    Mechanism and Machine Theory, Elsevier, 2017, 107, pp.139-147.

2016

  1. Hunt-Crossley Model Based Force Control For Minimally Invasive Robotic Surgery
    Antonio Pappalardo, Abdulrahman Albakri, Chao Liu, Luca Bascetta, Elena De Momi, Philippe Poignet
    Biomedical Signal Processing and Control, Elsevier, 2016, 29, pp.31-43.
  2. A new revised desired compensation adaptive control for enhanced tracking: application to RA-PKMs
    Moussab Bennehar, Ahmed Chemori, François Pierrot
    Advanced Robotics, Taylor & Francis, 2016, 30 (17-18), pp.1199-1214.
  3. An agile manufacturing system for large workspace applications
    Hai Yang, Cédric Baradat, Sébastien Krut, François Pierrot
    International Journal of Advanced Manufacturing Technology, Springer Verlag, 2016, 85 (1), pp.25-35.
  4. Discrete reconfiguration planning for Cable-Driven Parallel Robots
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin
    Mechanism and Machine Theory, Elsevier, 2016, 100, pp.313-337.
  5. Design and evaluation of an actuated knee implant for postoperative ligament imbalance correction
    Andrea Collo, Shaban Almouahed, Philippe Poignet, Chafiaa Hamitouche, Eric Stindel
    Medical Engineering and Physics, Elsevier, 2016, 38 (4), pp.326-332.
  6. Some investigations into the optimal dimensional synthesis of parallel robots
    Ridha Kelaiaia, Abdelouahab Zaatri, Olivier Company, Lotfi Chikh
    International Journal of Advanced Manufacturing Technology, Springer Verlag, 2016, 83 (9-12), pp.1525-1538.
  7. Discrete reconfiguration planning for Cable-Driven Parallel Robots
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin
    Mechanism and Machine Theory, Elsevier, 2016, 100, pp.313-337.
  8. Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator
    Guilherme Sartori Natal, Ahmed Chemori, François Pierrot
    Robotica, Cambridge University Press, 2016, 34 (01), pp.43-70.
  9. Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training
    Fabien Despinoy, David Bouget, Germain Forestier, Cédric Penet, Nabil Zemiti, Philippe Poignet, Pierre Jannin
    IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2016, 63 (6), pp.1280-1291.

2015

  1. A Versatile Tension Distribution Algorithm for n-DOF Parallel Robots Driven by n+2 Cables
    Marc Gouttefarde, Johann Lamaury, Christopher Reichert, Tobias Bruckmann
    IEEE Transactions on Robotics, IEEE, 2015, 31 (6), pp.1444-1457.
  2. Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment
    Guilherme Sartori Natal, Ahmed Chemori, François Pierrot
    IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2015, 23 (4), pp.1520-1535.
  3. L1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time Experiments
    Divine Maalouf, Ahmed Chemori, Vincent Creuze
    Ocean Engineering, Elsevier, 2015, 98, pp.66-77.
  4. Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot
    Marc Gouttefarde, Jean-François Collard, Nicolas Riehl, Cédric Baradat
    IEEE Transactions on Robotics, IEEE, 2015, 31 (2), pp.501-510.
  5. Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper
    Divine Maalouf, Vincent Creuze, Ahmed Chemori, Ivan Torres Tamanaja, Eduardo Campos Mercado, Jorge Torres Muñoz, Rogelio Lozano, Olivier Tempier
    International Journal of Advanced Robotic Systems, InTech, 2015, 12 (2), pp.1-15.
  6. Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments
    Moussab Bennehar, Ahmed Chemori, François Pierrot, Vincent Creuze
    Frontiers in Robotics and AI, Frontiers Media S.A., 2015, 2, pp.32.
  7. Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle
    Divine Maalouf, Vincent Creuze, Ahmed Chemori, Olivier Tempier
    International Journal of Robotics and Automation, ACTA Press, 2015, 30 (1), pp.4161-4196.

2014

  1. A design framework for safe surgical robots: example of the ARAKNES robot controller
    Alonso Sánchez, Philippe Poignet, Etienne Dombre, Arianna Menciassi, Paolo Dario
    Robotics and Autonomous Systems, Elsevier, 2014, 62 (9), pp.1342-1352.
  2. Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis Methods
    Salih Abdelaziz, Laure Esteveny, Laurent Barbé, Pierre Renaud, Bernard Bayle, Michel De Mathelin
    Journal of Mechanical Design, American Society of Mechanical Engineers, 2014, 136 (9), pp.091006.
  3. 3D soft-tissue tracking using spatial-color joint probability distribution and thin-plate spline model
    Bo Yang, Wai-Keung Wong, Chao Liu, Philippe Poignet
    Pattern Recognition, Elsevier, 2014, 47 (9), pp.2962-2973.
  4. Linear and nonlinear MPC for track following in the design of HDD servo systems
    Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel
    International Journal of Systems, Control and Communications, Inderscience Publishers, 2014, 6 (1), pp.20-47.
  5. Robust 3D Motion Tracking for Vision-Based Control in Robotic Heart Surgery
    Bo Yang, Chao Liu
    Asian Journal of Control, Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) 2014, 16 (3), pp.632-645.
  6. Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation
    Pedro Moreira, Nabil Zemiti, Chao Liu, Philippe Poignet
    Computer Methods and Programs in Biomedicine, Elsevier, 2014, 116 (2), pp.52-67.
  7. Identification and Vibration Attenuation for the Parallel Robot Par2
    Luiz Douat, Isabelle Queinnec, Germain Garcia, Micaël Michelin, François Pierrot, Sophie Tarbouriech
    IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2014, 22 (1), pp.190-200.

2013

  1. A Quasi-Spherical Triangle-Based Approach for Efficient 3-D Soft-Tissue Motion Tracking
    Calvin Wong, Bo Yang, Chao Liu, Philippe Poignet
    IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2013, 18 (5), pp.1472-1484.
  2. Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning
    Mariana Bernardes, Bruno Vilhena Adorno, Philippe Poignet, Geovany Borges
    Mechatronics, Elsevier, 2013, 23 (6), pp.630-645.
  3. Experimental parameter identification of a multi-scale musculoskeletal model controlled by electrical stimulation: application to patients with spinal cord injury.
    Mourad Benoussaad, Philippe Poignet, Mitsuhiro Hayashibe, Christine Azevedo Coste, Charles Fattal, David Guiraud
    Medical and Biological Engineering and Computing, Springer Verlag, 2013, 51 (6), pp.617-631.
  4. Design and experimental evaluation of a dynamically balanced redundant planar 4-RRR parallel manipulator
    Volkert Van Der Wijk, Sébastien Krut, François Pierrot, Just Herder
    International Journal of Robotics Research, SAGE Publications, 2013, pp.743-758.
  5. Innovative Endoscopic Sino-Nasal and Anterior Skull Base Robotics
    Vincent Trévillot, Rafael Sobral, Etienne Dombre, Philippe Poignet, Benoît Herman, Louis Crampette
    International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2013, 8 (6), pp.977-987.
  6. Impact of Functional Electrical Stimulation of Lower Limbs during Sitting Pivot Transfer Motion for Paraplegic People
    Jovana Jovic, Sebastien Lengagne, Philippe Fraisse, Christine Azevedo Coste
    International Journal of Advanced Robotic Systems, InTech, 2013, 10 (25). <10.5772/51901>
  7. Theme F "medical robotics for training and guidance": Results and future work
    Florence Zara, Tanneguy Redarce, Philippe Poignet
    IRBM, Elsevier Masson, 2013, 34 (1), pp.16-17.

Communications internationales

2018

  1. Geometric Optimization of a Large Scale CDPR Operating on a Building Facade
    Hussein Hussein, João Santos, Marc Gouttefarde
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018. <https://www.iros2018.org>
  2. An active stabilizer for cable-driven parallel robot vibration damping
    Maximilian Lesellier, Loic Cuvillon, Jacques Gangloff, Marc Gouttefarde
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018. <https://www.iros2018.org>
  3. Actuator and Friction Dynamics Formulation in Control of PKMs: From Design to Real-Time Experiments
    Hussein Saied, Ahmed Chemori, Maher Rafei, Clovis Francis, François Pierrot
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018. <https://www.iros2018.org>
  4. Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication Delay
    Chao Liu, Jing Guo, Philippe Poignet
    SYROCO: Symposium on Robot Control, Aug 2018, Budapest, Hungary. 12th IFAC Symposium on Robot Control, 2018. <http://www.syroco2018.org/>
  5. Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked Marker
    Jun Shen, Nabil Zemiti, Jean-Louis Dillenseger, Philippe Poignet
    EMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, Hawaii United States. 40th IEEE Conference on Engineering in Medicine and Biology Conference, 2018.
  6. Static Modeling of Sagging Cables With Flexural Rigidity and Shear Forces
    Hussein Hussein, Marc Gouttefarde, François Pierrot
    ARK: Advances in Robot Kinematics, Jul 2018, Bologna, Italy. 16th International Symposium on Advances in Robot Kinematics, pp.310-318, 2018.
  7. Intraoperative Ultrasonography-based Augmented Reality For Application In Image Guided Robotic Surgery
    Jun Shen, Nabil Zemiti, Agnès Viquesnel, Oscar Caravaca Mora, Auguste Courtin, Renaud Garrel, Jean-Louis Dillenseger, Philippe Poignet
    Computer Assisted Radiology and Surgery - CARS 2018-, Jun 2018, Berlin, Germany. 2018.
  8. Cable-Driven Parallel Robots: Principle and Applications of an Advanced Crane System
    Jean-Baptiste Izard, Marc Gouttefarde, Hussein Hussein, Christoph Martin, Werner Kraus, Andreas Pott, Mariola Rodriguez
    ICAE: International Congress on Architectural Envelopes, Jun 2018, San Sebastian-Donostia, Spain. 8th International Congress on Architectural Envelopes, 2018. <https://icae2018.eu/?lang=en>
  9. Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm
    François Leborne, Vincent Creuze, Ahmed Chemori, Lorenzo Brignone
    ICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. IEEE International Conference on Robotics and Automation, 2018. <https://icra2018.org/>

2017

  1. Battery-free force sensor for instrumented knee implant
    Shaban Almouahed, Chafiaa Hamitouche, Philippe Poignet, Eric Stindel
    HI-POCT: Healthcare Innovations and Point-of-Care Technologies, Nov 2017, Bethesda, United States. Proceedings HI-POCT 2017 : IEEE-NIH Special Topics Conference on Healthcare Innovations and Point-of-Care Technologies, 2017. <10.1109/HIC.2017.8227570>
  2. From Non-Model-Based to Model-Based Control of PKMs: A Comparative Study
    Hussein Saied, Ahmed Chemori, Maher El Rafei, Clovis Francis, François Pierrot
    ICAMMRMS: International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, Oct 2017, Beyrouth, Lebanon. 1st International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, 2017. <http://www.ulfg.ul.edu.lb/conferences/2/ICAMMRMS-2017>
  3. Control of Complex Robotic Systems: Challenges, Design and Experiments
    Ahmed Chemori
    MMAR: Methods and Models in Automation and Robotics, Aug 2017, Miedzyzdroje, Poland. 22nd International Conference on Methods and Models in Automation and Robotics, 2017.
  4. Twist Feasibility Analysis of Cable-Driven Parallel Robots
    Saman Lessanibahri, Marc Gouttefarde, Stéphane Caro, Philippe Cardou
    CableCon: Conference on Cable-Driven Parallel Robots, Aug 2017, Québec, Canada. 3rd International Conference on Cable-Driven Parallel Robots, 53, pp.128-139, 2017, Mechanisms and Machine Science.
  5. Estimating inertial parameters of suspended cable-driven parallel robots — Use case on CoGiRo
    Philipp Tempel, Pierre-Elie Hervé, Olivier Tempier, Marc Gouttefarde, Andreas Pott
    ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. IEEE, IEEE International Conference on Robotics and Automation, pp.6093-6098, 2017.
  6. A Novel Adaptive Terminal Sliding Mode Control for Parallel Manipulators: Design and Real-Time Experiments
    Moussab Bennehar, Gamal El-Ghazaly, Ahmed Chemori, François Pierrot
    ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. IEEE International Conference on Robotics and Automation, 2017. <http://www.icra2017.org>

2016

  1. Optimization of concentric-tube robot design for deep anterior brain tumor surgery
    Mohamed Boushaki, Chao Liu, Benoit Herman, Vincent Trévillot, Mohamed Akkari, Philippe Poignet
    ICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. 14th International Conference on Control, Automation, Robotics and Vision, 2017. <10.1109/ICARCV.2016.7838563>
  2. Beveled-Tip Needle-Steering Using 3D Ultrasound, Mechanical-Based Kalman Filter and Curvilinear ROI Prediction
    Paul Mignon, Philippe Poignet, Jocelyne Troccaz
    IEEE Conference on Control, Automation, Robotics & Vision, Nov 2016, Phuket, Thailand. IEEE, Proceedings of IEEE Conference on Control, Automation and Vision, 2017.
  3. Motion control architecture of a 4-fin U-CAT AUV using DOF prioritization
    Taavi Salumäe, Ahmed Chemori, Maarja Kruusmaa
    IROS: Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. 29th IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016. <10.1109/IROS.2016.7759218>
  4. Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator
    Marc Gouttefarde
    EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. 6th European Conference on Mechanism Science, pp.363-371, 2016.
  5. Determination of a Rigid Body Orientation By Means of Indirect Measurements
    Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot
    EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. 6th European Conference on Mechanism Science, pp.61-69, 2016.
  6. Towards the control of tensegrity mechanisms for variable stiffness applications: a case study
    Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet, Pierre Renaud
    EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. 6th European Conference on Mechanism Science, 2016. <http://eucomes2016.irccyn.ec-nantes.fr>
  7. Maximum wrench feasible payload in cable-driven parallel robots equipped with a serial robot
    Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze, François Pierrot
    AIM: Advanced Intelligent Mechatronics, Jul 2016, Banff, Canada. IEEE, IEEE International Conference on Advanced Intelligent Mechatronics, 2016. <10.1109/AIM.2016.7576994>
  8. Dynamic recovery of cable-suspended parallel robots after a cable failure
    Berti Allessando, Marc Gouttefarde, Marco Carricato
    ARK: Advances in Robot Kinematics, Jun 2016, Grasse, France. 15th International Symposium on Advances in Robot Kinematics, 2016. <10.1007/978-3-319-56802-7_35>
  9. Innovative Approach to Use Air Bearings in Cubesat Ground Tests
    Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau
    CubeSat Workshop, May 2016, La Valette, Malta. CubeSat Workshop at the Small Satellites Conference (4S), 2016. <http://esaconferencebureau.com/docs/default-source/16a02_docs/cubesat-2016-programme2362728B8535.pdf?sfvrsn=2>
  10. Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditions
    Ahmed Chemori, Keijo Kuusmik, Taavi Salumae, Maarja Kruusmaa
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. IEEE International Conference on Robotics and Automation, pp.4750-4755, 2016.
  11. Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design
    Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. 2016.
  12. Augmented $L1$ adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments
    Hala Rifai, Mohamed Ben Abdessalem, Ahmed Chemori, Samer Mohammed, Yacine Amirat
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. IEEE, IEEE International Conference on Robotics and Automation, pp.5708-5714, 2016.

2015

  1. Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems: A Study on Force Capabilities
    Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze
    IROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. IEEE/RSJ, 2015.
  2. Robotic Test Bench for CubeSat Ground Testing: Concept and Satellite Dynamic Parameter Identification
    Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau
    IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 2015. <10.1109/IROS.2015.7354148>
  3. Control of a Perturbed Under-Actuated Mechanical System
    Chadia Zayane-Aissa, Taous-Meriem Laleg-Kirati, Ahmed Chemori
    CCA: Conference on Control Applications, Sep 2015, Sydney, Australia. IEEE Conference on Control Applications, pp.249-299, 2015.
  4. Enhanced Position-Force Tracking of Time-Delayed Teleoperation for Robotic-Assisted Surgery
    Jing Guo, Chao Liu, Philippe Poignet
    EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. 37th International Conference of the IEEE Engineering in Medicine and Biology Society, pp.4894-4897, 2015.
  5. Motion Prediction Using Dual Kalman Filter for Robust Beating Heart Tracking
    Bo Yang, Chao Liu, Philippe Poignet, Zheng Wenfeng, Shan Liu
    EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. 37th International Conference of the IEEE Engineering in Medicine and Biology Society, pp.4875-4878, 2015.
  6. Using Rotation for Steerable Needle Detection in 3D Color-Doppler Ultrasound Images
    Paul Mignon, Philippe Poignet, Jocelyne Troccaz
    EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milano, Italy. IEEE Engineering in Medicine and Biology Conference, pp.1544-1547, 2015.
  7. Dimensioning of Cable-Driven Parallel Robot Actuators, Gearboxes And Winches According To The Twist Feasible Workspace
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin
    CASE: Conference on Automation Science and Engineering, Aug 2015, Gothenburg, Sweden. IEEE, pp.99-106.
  8. Dynamics effects on natural frequencies in modal analysis of PKMs
    Julien Prades, Franck Jourdan, Olivier Company, Sébastien Krut, François Pierrot
    MMAR: Methods and Models in Automation and Robotics, Aug 2015, Miedzyzdroje, Poland. 2015.
  9. Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms
    Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
    IDETC/CIE: International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, Massachusetts, United States. 5A, 2015, 39th Mechanisms and Robotics Conference. <10.1115/DETC2015-47240>
  10. Needle Deflection Prediction Using Adaptive Slope Model
    Ederson Dorileo, Nabil Zemiti, Philippe Poignet
    ICAR: International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. IEEE, pp.60-65, 2015.
  11. Stable and Enhanced Position-Force Tracking for Bilateral Teleoperation with Time Delay
    Jing Guo, Chao Liu, Philippe Poignet
    ECC: European Control Conference, Jul 2015, Linz, Austria. 14th annual European Control Conference (ECC'15), pp.1980-1985, 2015.
  12. Effect of Non-Passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case Study
    Jing Guo, Chao Liu, Philippe Poignet
    MesRob: Medical and Service Robots, Jul 2015, Nante, France. 4th International Workshop on Medical and Service Robots (MesRob'15), 2015.
  13. A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin
    ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. <10.1109/ICRA.2015.7139404>
  14. L1 Adaptive Control of Parallel Kinematic Manipulators: Design and Real-Time Experiments
    Moussab Bennehar, Ahmed Chemori, François Pierrot
    ICRA: International Conference on Robotics and Automation, May 2015, Seattle, United States. 2015. <10.1109/ICRA.2015.7139400>
  15. Simplified adaptive path planning for percutaneous needle insertions
    Ederson Dorileo, Abdulrahman Albakri, Nabil Zemiti, Philippe Poignet
    ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1782-1788, 2015.

2014

  1. Environment Modeling with Physiological Motion Disturbance for Surgical Teleoperation
    Abdulrahman Albakri, Chao Liu, Philippe Poignet
    ICARCV: International Conference on Control Automation Robotics & Vision, Dec 2014, Singapore, Singapore. Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on, pp.1298 -1303, 2014.
  2. A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    Humanoids, Nov 2014, Madrid, Spain. 14th IEEE-RAS International Conference on Humanoid Robots, pp.693-698, 2014, Humans and Robots Face-to-Face.
  3. External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments
    Nahla Khraief Haddad, Ahmed Chemori, Safya Belghith
    CCA: Conference on Control Applications, Oct 2014, Antibes, France. IEEE Conference on Control Applications (CCA) Part of 2014 IEEE Multi-conference on Systems and Control, 2014. <10.1109/CCA.2014.6981565>
  4. A prediction-based optimal gain selection in RISE feedback control for hard disk drive
    Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel
    CCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. IEEE, IEEE Conference on Control Applications (CCA) Part of 2014 IEEE Multi-conference on Systems and Control, 2014. <10.1109/CCA.2014.6981615>
  5. Study of Reconfigurable Suspended Cable-Driven Parallel Robots for Airplane Maintenance
    Dinh Quan Nguyen, Marc Gouttefarde
    IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. IEEE/RSJ, pp.1682-1689, 2014.
  6. A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel Manipulators
    Moussab Bennehar, Ahmed Chemori, François Pierrot
    IEEE/RAS International Conference on Robotic Systems, Sep 2014, Chicago, United States. pp.2389-2394, 2014.
  7. A New Extension of Desired Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMs
    Moussab Bennehar, Ahmed Chemori, François Pierrot
    IEEE/RAS International Conference on Robotic Systems, Sep 2014, Chicago, United States. pp.1670-1675, 2014.
  8. Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic Platform
    Adrian Graña Sanchez, Luis Alonso Sanchez Secades, Nabil Zemiti, Philippe Poignet
    IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. IEEE/RSJ, pp.1216-1221, 2014.
  9. Dimensional synthesis of 4 Dofs (3T-1R) actuatedly rendundant parallel manipulateur based on dual criteria: Dynamics and precision
    Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    dly rendundant parallel manipulateur based on dual criteria: Dynamics and precision. IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.
  10. On the performance evaluation and analysis of general robots with mixed dofs
    Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.
  11. Haptic Teleoperation and Concentric Tube Robot - Some New Control Developments for New Surgical Robot Applications
    Chao Liu, Philippe Poignet
    EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. 36th International Conference of the IEEE Engineering in Medicine and Biology Society, 2014.
  12. Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic System
    Jing Guo, Chao Liu, Philippe Poignet
    EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.361-365, 2014, Discovering, Innovating, and Engineering Future Biomedicine.
  13. Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)
    Micaël Michelin, Cédric Baradat, Dinh Quan Nguyen, Marc Gouttefarde
    CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. Proceedings of the Second International Conference on Cable-Driven Parallel Robots, Part. I, 32, pp.71-83, 2014, Mechanisms and Machine Science.
  14. A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin
    CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. Proceedings of the Second International Conference on Cable-Driven Parallel Robots, Part IV, 32, pp.275-291, 2014, Mechanisms and Machine Science.
  15. On the Improvement of Cable Collision Detection Algorithms
    Dinh Quan Nguyen, Marc Gouttefarde
    CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. Proceedings of the Second International Conference on Cable-Driven Parallel Robots, 32, pp.29-40, 2014, Mechanisms and Machine Science.
  16. Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo
    Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze
    Andreas Pott; Tobias Bruckmann. CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. Springer, Proceedings of the Second International Conference on Cable-Driven Parallel Robots, Part III, 32, pp.179-200, 2014, Mechanisms and Machine Science.
  17. An active tibial component for potoperative fine tuning adjustment of knee ligament imbalance
    Andrea Collo, Philippe Poignet, Chafiaa Hamitouche, Shaban Almouahed, Eric Stindel
    BioRob: Biomedical Robotics and Biomechatronics, Aug 2014, Sao Paulo, Brazil. 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.126 - 131, 2014.
  18. Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys
    Marc Gouttefarde, Dinh Quan Nguyen, Cédric Baradat
    ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. 14th International Symposium on Advances in Robot Kinematics, pp.213-221, 2014.
  19. On the Analysis of Large-Dimension Reconfigurable Suspended Cable-Driven Parallel Robots
    Dinh Quan Nguyen, Marc Gouttefarde, Olivier Company, François Pierrot
    ICRA: International Conference on Robotics and Automation, Jun 2014, Hong-Kong, China. IEEE, pp.5728-5735.
  20. Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator
    Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    ARK: Advances in Robots Kinematic, Jun 2014, Ljubljana, Slovenia. 14th International Symposium on Advances in Robot Kinematic, pp.545-553, 2014.
  21. Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization
    Dinh Quan Nguyen, Marc Gouttefarde
    ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. Advances in Robot Kinematics, pp.181-191, 2014.
  22. Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms
    Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
    ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.161-169, 2014.
  23. Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic Telesurgery
    Fabien Despinoy, Alonso Sánchez, Nabil Zemiti, Pierre Jannin, Philippe Poignet
    Danail Stoyanov; D. Louis Collins; Ichiro Sakuma; Purang Abolmaesumi; Pierre Jannin. IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. Springer, 5th International Conference on Information Processing in Computer-Assisted Interventions, LNCS (8498), pp.21-30, 2014, Information Processing in Computer-Assisted Interventions.
  24. Modelling and Control of an ERF-based Needle Insertion Training Platform
    Adrian Graña Sanchez, Alonso Sánchez, Nabil Zemiti, Philippe Poignet
    IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.00, 2014, 5th International Conference on Information Processing in Computer-Assisted Interventions.
  25. A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures Planning
    Ederson Dorileo, Nikolai Hungr, Nabil Zemiti, Ivan Bricault, Céline Fouard, Philippe Poignet
    Computer Assisted Radiology and Surgery - CARS 2014, Jun 2014, Fukuoka, Japan. 2014.
  26. Optimal Design of Cable-Driven Parallel Robots for Large Industrial Structures
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin
    ICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. IEEE, pp.5744-5749, 2014.
  27. Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate Jacobian
    Mohamed Boushaki, Chao Liu, Philippe Poignet
    ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp.5877-5882, 2014.
  28. A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp.5712-5719, 2014.
  29. Test Bench For Nanosatellite Attitude Determination And Control System Ground Tests
    Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau
    4S: Small Satellites Systems and Services Symposium, May 2014, Porto Petro, Spain. 2014, Dynamic Small Satellites in a Dynamic Economy. <http://congrexprojects.com/2014-events/4S2014/home>
  30. Human based hybrid kinematic/dynamic whole-body control in humanoid robotics
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. French-German-Japanese Conference on Humanoid and Legged Robots, 2014. <http://orb.iwr.uni-heidelberg.de/hlr2014/HLR14/index.php>
  31. RISE Feedback Control for a R/W Head Track Following in Hard Disc Drives
    Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel
    SSD: Systems, Analysis and Automatic Control, Feb 2014, Castelldefels-Barcelona, Spain. 11th International Multi-Conference on Systems, Signals and Devices, 2014, SAC: Systems, Analysis and Automatic Control. <10.1109/SSD.2014.6808811>
  32. Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators
    Moussab Bennehar, Ahmed Chemori, Sébastien Krut, François Pierrot
    SSD: Systems, Analysis and Automatic Control, Feb 2014, Castelldefels-Barcelona, Spain. 11th International Multi-Conference on Systems, Signals and Devices, 2014, SAC: Systems, Analysis and Automatic Control. <10.1109/SSD.2014.6808879>
  33. Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. IEEE, 11th International Multi-Conference on Systems, Signals and Devices, 2014, SAC: Systems, Analysis and Automatic Control. <10.1109/SSD.2014.6808778>

2013

  1. Stability Analysis of a New Extended L1 Controller with Experimental Validation on an Underwater Vehicle
    Divine Maalouf, Ahmed Chemori, Vincent Creuze
    CDC: Conference on Decision and Control, Dec 2013, Florence, Italy. 52nd IEEE Conference on Decision and Control, 2013. <http://cdc2013.units.it/>
  2. On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots
    Dinh Quan Nguyen, Marc Gouttefarde, Olivier Company, François Pierrot
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. IEEE/RSJ, pp.928-934, 2013.
  3. Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots
    Johann Lamaury, Marc Gouttefarde, Ahmed Chemori, Pierre-Elie Hervé
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. IEEE/RSJ, pp.4879-4886, 2013.
  4. A Novel (3T-1R) Redundant Parallel Mechanism with Large Operational Workspace and Rotational Capability
    Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. IEEE/RSJ, pp.436-443, 2013.
  5. Stability and Performance Analysis of Three-Channel Teleoperation Control Architectures for Medical Applications
    Abdulrahman Albakri, Chao Liu, Philippe Poignet
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. IEEE/RSJ, pp.456-462, 2013.
  6. Dynamic Parameter Identification of Actuation Redundant Parallel Robots using their Power Identification Model: Application to the DualV
    Sébastien Briot, Maxime Gautier, Sébastien Krut
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. IEEE/RSJ, pp.1822-1827, 2013.
  7. Track Following Control Using Nonlinear Model Predictive Control in Hard Disk Drives
    Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. 2013. <http://www.iros2013.org/>
  8. Control of meso-robots for endoluminal Surgery
    Alonso Sánchez, Chao Liu, Nabil Zemiti, Philippe Poignet, Etienne Dombre
    CRAS: New Technologies for Computer/Robot Assisted Surgery, Sep 2013, Verone, Italy. 2013, 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery.
  9. A new extension of the L1 adaptive controller to drastically reduce the tracking time lags
    Divine Maalouf, Ahmed Chemori, Vincent Creuze
    NOLCOS: Nonlinear Control Systems, Sep 2013, Toulouse, France. 9th IFAC Symposium on Nonlinear Control Systems, pp.001-006, 2013.
  10. Dynamic Parameter Identification of Actuation Redundant Parallel Robots: Application to the DualV
    Sébastien Briot, Maxime Gautier, Sébastien Krut
    AIM: Advanced Intelligent Mechatronics, Jul 2013, Wollongong, Australia. IEEE/ASME, pp.637-643, 2013.
  11. An Agile Manufacturing System for Large Workspace Applications
    Hai Yang, Cédric Baradat, Sébastien Krut, François Pierrot
    FAIM: Flexible Automation and Intelligent Manufacturing, Jun 2013, Porto, Portugal. International Workshop, WRSM 2013, Co-located with FAIM 2013, Porto, Portugal, June 26-28, 2013. Proceedings, Communications in Computer and Information Science (371), pp.57-70, 2013, Robotics in Smart Manufacturing.
  12. Model Predictive Tracking Control for a Head-Positioning in a Hard-Disk-Drive
    Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel
    MED'13: 21st Mediterranean Conference on Control and Automation, Jun 2013, Platanias-Chania, Crete, Greece. pp.06, 2013.
  13. Control of a Large Redundantly Actuated Cable-Suspended Parallel Robot
    Johann Lamaury, Marc Gouttefarde
    ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. IEEE, pp.4644-4649, 2013.
  14. Predictive control for the stabilization of a fast mechatronic system : from simulation to real-time experiments
    Ahmed Chemori, Nahla Touati
    Symposium on Mechatronic Systems, Apr 2013, Hangzhou, China. 6th IFAC Symposium on Mechatronic Systems, 46 (5), pp.237-242, 2013.
  15. Optimal Pattern Generator For Dynamic Walking in humanoid Robotics
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. IEEE, 10th International Multi-Conference on Systems, Signals and Devices, 1, 2013. <10.1109/SSD.2013.6564107>
  16. Control of Parallel Robots: Towards Very High Accelerations
    Ahmed Chemori, Guilherme Sartori Natal, François Pierrot
    SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. 10th International Multi-Conference on Systems, Signals and Devices, pp.8, 2013.
  17. Towards a Dynamic Tibial Component for Postoperative Fine-tuning Adjustment of Knee Ligament Imbalance
    Andrea Collo, Shaban Almouahed, Chafiaa Hamitouche, Philippe Poignet, Eric Stindel
    BIODEVICES: Biomedical Electronics and Devices, Feb 2013, Barcelona, Spain. 6th International Conference on Biomedical Electronics and Devices, pp.95-102, 2013.
  18. From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle
    Divine Maalouf, Ivan Tamanaja, Eduardo Campos, Ahmed Chemori, Vincent Creuze, Jorje Torres, Lozano Rogelio
    IFAC Joint conference, SSSC: Symposium on System Structure and Control, Feb 2013, Grenoble, France. Symposium on System Structure and Control (5th), 2013, IFAC Joint conference 2013, 5th Symposium on System Structure and Control. <http://www.gipsa-lab.fr/SSSC2013/>

Mots-clés

Conception, Commande, Manipulation, Robotique parallèle, Robotique médicale

Dernière mise à jour le 27/06/2018