DEXTER: Design and control of robotic manipulators
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
- Salih Abdelaziz, Maître de Conférences UM
- Ahmed Chemori, Chargé de Recherche CNRS
- Olivier Company, Maître de Conférences UM
- Marc Gouttefarde, Directeur de Recherche CNRS
- Yassine Haddab, Professeur des Universités UM
- Sébastien Krut, Chargé de Recherche CNRS
- Chao Liu, Chargé de Recherche CNRS
- François Pierrot, Directeur de Recherche CNRS
- Philippe Poignet, Professeur des Universités UM
- Nabil Zemiti, Maître de Conférences UM
Non permanents
- Mouna Ben Salem, CDD Enseignant-Chercheur UM
- Benoit Brazey, CDD Chercheur UM
- Benjamin Calme, Doctorant UM
- Joao Cavalcanti Santos, CDD Chercheur
- Pierre Chatellier, CDD Ingénieur-Technicien UM
- Marie De Boutray, Doctorant CHU Mtp
- Ghina Hassan, Doctorant Université Libanaise
- Walid Jhinaoui, Doctorant UM
- Lucas Lavenir, Doctorant UM
- Guillaume Mayaud, CDD Ingénieur-Technicien UM
- Michael Ohayon-Ordaz, CDD Ingénieur-Technicien UM
- Mohamed Walid Remmas, Doctorant Université technologique de Tallin
- Auwal Tijjani Shehu, Doctorant Campus France
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 2014 - Evaluation 2019
Articles de revues internationales
2020
- Diver tracking in open waters: A low‐cost approach based on visual and acoustic sensor fusionMohamed Walid Remmas, Ahmed Chemori, Maarja KruusmaaJournal of Field Robotics, Wiley, In press. <10.1002/rob.21999>
- Admittance-Controlled Robotic Assistant for Fibula Osteotomies in Mandible Reconstruction SurgeryLingbo Cheng, Jay Carriere, Jakub Piwowarczyk, Daniel Aalto, Nabil Zemiti, Marie de Boutray, Mahdi TavakoliAdvanced Intelligent Systems, Wiley, 2020. <10.1002/aisy.202000158>
- HFUS Imaging of the Cochlea: A Feasibility Study for Anatomical Identification by Registration with MicroCTLucas Lavenir, Nabil Zemiti, Mohamed Akkari, Gérard Subsol, Frederic Venail, Philippe PoignetAnnals of Biomedical Engineering, Springer Verlag, 2020. <10.1007/s10439-020-02671-1>
- Towards 3D ultrasound guided needle steering robust to uncertainties, noise and tissue heterogeneityGuillaume Lapouge, Philippe Poignet, Jocelyne TroccazIEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, In press.
- A New Adaptive RISE Feedforward Approach based on Associative Memory Neural Networks for the Control of PKMsJonatan Martín Escorcia-Hernández, Hipolito Aguilar-Sierra, Omar Aguilar-Mejía, Ahmed Chemori, José Humbérto Arroyo-NuñezJournal of Intelligent and Robotic Systems, Springer Verlag, 2020. <10.1007/s10846-020-01242-9>
- A method of motion recognition based on electromyographic signalsJing Luo, Chao Liu, Ying Feng, Chenguang YangAdvanced Robotics, Taylor & Francis, 2020, 34 (15), pp.976-984.
- Robust Adaptive Tracking Control of Underwater Vehicles: Design, Stability Analysis and ExperimentsAuwal Shehu, Ahmed Chemori, Vincent CreuzeIEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2020. <10.1109/TMECH.2020.3012502>
- Adaptive Disturbance Observer for Trajectory Tracking of Underwater VehiclesJesus Guerrero, Jorge Antonio Torres Muñoz, Vincent Creuze, Ahmed ChemoriOcean Engineering, Elsevier, 2020, 200, pp.#107080.
- Transrectal Ultrasound Image-based Real-time Augmented Reality Guidance in Robot-assisted Laparoscopic Rectal Surgery: A Proof of Concept StudyJun Shen, Nabil Zemiti, Christophe Taoum, Guillaume Aiche, Jean-Louis Dillenseger, Philippe Rouanet, Philippe PoignetInternational Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2020, 15 (3), pp.531-543.
- A new solution for machining with RA-PKMs: Modelling, control and experimentsJonatan Martín Escorcia-Hernández, Ahmed Chemori, Hipolito Aguilar-Sierra, Arturo Jesús Monroy-AnievaMechanism and Machine Theory, Elsevier, 2020, 150, pp.#103864.
- Sparse-view CBCT reconstruction via weighted Schatten p-norm minimizationCongcong Xu, Bo Yang, Fupei Guo, Wenfeng Zheng, Philippe PoignetOptics Express, Optical Society of America - OSA Publishing, 2020, 28 (24), pp.35469-35482.
- Human-like Balance Recovery Based on Numerical Model Predictive Control StrategyKeli Shen, Ahmed Chemori, Mitsuhiro HayashibeIEEE Access, IEEE, In press. <10.1109/ACCESS.2020.2995104>
- Resolution evaluation of 6-degree-of-freedom precision positioning systems: Definitions and apparatusAlain Vissiere, Sébastien Krut, Thierry Roux, Pierre Noiré, Olivier Company, François PierrotMeasurement - Journal of the International Measurement Confederation (IMEKO), Elsevier, In press.
2019
- A Novel Robotic Guidance System with Eye Gaze Tracking Control for Needle based InterventionsJing Guo, Yi Liu, Qing Qiu, Jie Huang, Chao Liu, Zhiguang Cao, Yue ChenIEEE Transactions on Cognitive and Developmental Systems, Institute of Electrical and Electronics Engineers, Inc, In press, pp.1-1.
- A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and ExperimentsHussein Saied, Ahmed Chemori, Mohamed Bouri, Maher Rafei, Clovis Francis, François PierrotInternational Journal of Control, Taylor & Francis, 2019. <10.1080/00207179.2019.1704063>
- RISE-based adaptive control for EICoSI exoskeleton to assist knee joint mobilityKashif I.K. Sherwani, Neelesh Kumar, Ahmed Chemori, Munna Khan, Samer MohammedRobotics and Autonomous Systems, Elsevier, In press. <10.1016/j.robot.2019.103354>
- A wave variable approach with multiple channel architecture for teleoperated systemJing Luo, Chao Liu, Ning Wang, Chenguang YangIEEE Access, IEEE, 2019, 7, pp.143912-143920.
- Haptics Electromyography Perception and Learning Enhanced Intelligence for Teleoperated RobotChenguang Yang, Jing Luo, Chao Liu, Miao Li, Shi-Lu DaiIEEE Transactions on Automation Science and Engineering, Institute of Electrical and Electronics Engineers, 2019, 16 (4), pp.1512-1521.
- Modeling and Vision-Based Control of Large-Dimension Cable-Driven Parallel Robots Using a Multiple-Camera SetupTej Dallej, Marc Gouttefarde, Nicolas Andreff, Pierre-Elie Hervé, Philippe MartinetMechatronics, Elsevier, 2019, 61, pp.20-36.
- Observation-Based Nonlinear Proportional–Derivative Control for Robust Trajectory Tracking for Autonomous Underwater VehiclesJesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed ChemoriIEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, In press. <10.1109/JOE.2019.2924561>
- A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time DelayJing Guo, Chao Liu, Philippe PoignetJournal of Intelligent and Robotic Systems, Springer Verlag, 2019, 95, pp.165-192.
- Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experimentsJesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori, Eduardo Campos MercadoMechatronics, Elsevier, 2019, 61, pp.96-105.
- Characterization of bistable mechanisms for microrobotics and mesoroboticsMouna Ben Salem, Hussein Hussein, Guillaume Aiche, Yassine Haddab, Philippe Lutz, Lennart Rubbert, Pierre RenaudComparison between microfabrication and additive manufacturing. Journal of Micro-Bio Robotics., Springer, 2019, 15 (1), pp.65-77.
- A Robot Learning Method with Physiological Interface for Teleoperation SystemsJing Luo, Chenguang Yang, Hang Su, Chao LiuApplied Sciences, MDPI, 2019, 9 (10), pp.2099.
- Estimation of EMG-Based Force Using a Neural-Network-Based ApproachJing Luo, Chao Liu, Chenguang YangIEEE Access, IEEE, 2019, 7, pp.64856-64865.
- Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled WinchesJeremy Begey, Loic Cuvillon, Maximilian Lesellier, Marc Gouttefarde, Jacques GangloffIEEE Transactions on Robotics, IEEE, 2019, 35 (1), pp.286-293.
- Trajectory tracking for autonomous underwater vehicle: An adaptive approachJesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed ChemoriOcean Engineering, Elsevier, 2019, 172, pp.511-522.
- A nonlinear controller based on saturation functions with variable parameters to stabilize an AUVEduardo Campos Mercado, Jesus Monoroy, Hugo Abundis, Ahmed Chemori, Vincent Creuze, Jorge TorresInternational Journal of Naval Architecture and Ocean Engineering, Elsevier, 2019, 11 (1), pp.211-224.
- Motion Control of a Hovering Biomimetic Four-Fin Underwater RobotTaavi Salumäe, Ahmed Chemori, Maarja KruusmaaIEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, 2019, 44 (1), pp.54-71.
- Skeleton arc additive manufacturing with closed loop controlSimon Radel, Adama Diourte, Fabien Soulié, Olivier Company, Cyril BordreuilAdditive Manufacturing, Elsevier, 2019, 26, pp.106-116.
- CAM for On-line Control for Wire Arc Additive ManufacturingSimon Radel, Cyril Bordreuil, Fabien Soulié, Olivier CompanyComputer-Aided Design and Applications, CAD Solutions LLC (imprimé) and Taylor & Francis Online (en ligne), 2019, 16 (3), pp.558-569.
- On the design of a preshaped curved beam bistable mechanismHussein Hussein, Patrice Le Moal, Rafic Younes, Gilles Bourbon, Yassine Haddab, Philippe LutzMechanism and Machine Theory, Elsevier, 2019, 131, pp.204-217.
2018
- Investigation of the use of a central unique renewable energy system versus distributed units for crop irrigationToufik Sebbagh, Ridha Kelaiaia, Abdelouahab Zaatri, Bechara Taouk, Lokmane AbdelouahedClean Technologies and Environmental Policy, Springer Verlag, 2018, 20 (10), pp.2365-2373.
- Reconstructing a 3D heart surface with stereo-endoscope by learning eigen-shapesBo Yang, Chao Liu, Wenfeng Zheng, Shan Liu, Keli HuangBiomedical optics express, Optical Society of America - OSA Publishing, 2018, 9 (12), pp.6222-6236.
- Virtual Submerged Floating Operational System for Robotic ManipulationQin Zhang, Jialei Zhang, Ahmed Chemori, Xianbo XiangComplexity, Wiley, 2018, 2018, pp.1-18.
- Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steeringGuillaume Lapouge, Jocelyne Troccaz, Philippe PoignetControl Engineering Practice, Elsevier, 2018, 80, pp.116-124.
- Toward a standard ontology of surgical process modelsBernard 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 JanninInternational Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2018, 13 (9), pp.1397-1408.
- Design and fabrication of novel discrete actuators for microrobotic tasksHussein Hussein, Ismaïl Bouhadda, Abdenbi Mohand-Ousaid, Gilles Bourbon, Patrice Le Moal, Yassine Haddab, Philippe LutzSensors and Actuators A: Physical , Elsevier, 2018, 271, pp.373-382.
- Synthesis Method for the Design of Variable Stiffness Components Using Prestressed Singular Elastic SystemsQuentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre RenaudMechanism and Machine Theory, Elsevier, 2018, 121, pp.598-612.
- Evaluation of Contactless Human-Machine Interface for Robotic Surgical TrainingFabien Despinoy, Nabil Zemiti, Germain Forestier, Luis Alonso Sanchez Secades, Pierre Jannin, Philippe PoignetInternational Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2018, 13 (1), pp.13-24.
- Fractional order model reference adaptive control for SCARA robot trajectory trackingYassine Bensafia, Samir Ladaci, Khatir Khettab, Ahmed ChemoriInternational Journal of Industrial and Systems Engineering, Inderscience, 2018, 30 (2), pp.138-156.
- Automatic robotic steering of flexible needles from 3D ultrasound images in phantoms and ex vivo biological tissuePaul Mignon, Philippe Poignet, Jocelyne TroccazAnnals of Biomedical Engineering, Springer Verlag, 2018, 46 (9), pp.1385-1396.
- A new RISE-based adaptive control of PKMs: design, stability analysis and experimentsMoussab Bennehar, Ahmed Chemori, Mohamed Bouri, Laurent Frédéric Jenni, François PierrotInternational Journal of Control, Taylor & Francis, 2018, 91 (3), pp.593-607.
- Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experimentsNahla Khraief Haddad, Ahmed Chemori, Safya BelghithInternational Journal of Control, Taylor & Francis, 2018, 91 (12), pp.2657-2672.
2017
- 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 GillesPLoS ONE, Public Library of Science, 2017, 12 (12), pp.e0189486.
- On decentralized adaptive full-order sliding mode control of multiple UAVsXianbo Xiang, Chao Liu, Hongsheng Su, Qin ZhangISA Transactions, Elsevier, 2017, 71 (Part 2), pp.196-205.
- A triangular radial cubic spline deformation model for efficient 3D beating heart trackingBo Yang, Chao Liu, Keli Huang, Wenfeng ZhengSignal, Image and Video Processing, Springer Verlag, 2017, 11 (7), pp.1329-1336.
- Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systemsJawhar Ghommam, Ahmed ChemoriNonlinear Dynamics, Springer Verlag, 2017, 90 (1), pp.301-315.
- Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experimentsEduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, Jorge Antonio Torres Muñoz, Rogelio LozanoMechatronics, Elsevier, 2017, 45, pp.49-59.
- From Hopf-bifurcation to limit cycles control in underactuated mechanical systemsNahla Khraief Haddad, Safya Belghith, Hassène Gritli, Ahmed ChemoriInternational journal of bifurcation and chaos in applied sciences and engineering , World Scientific Publishing, 2017, 27 (07). <10.1142/S0218127417501048>
- Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBCHassène Gritli, Nahla Khraief, Ahmed Chemori, Safya BelghithNonlinear Dynamics, Springer Verlag, 2017, 89 (3), pp.2195-2226.
- Motion prediction via online instantaneous frequency estimation for vision-based beating heart trackingBo Yang, Chao Liu, Wenfeng Zheng, Shan LiuInformation Fusion, Elsevier, 2017, 35, pp.58-67.
- Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix methodHuan Yuan, Eric Courteille, Marc Gouttefarde, Pierre-Elie HervéJournal of Sound and Vibration, Elsevier, 2017, 394, pp.527-544.
- Mechanical Stop Mechanism For Overcoming MEMS Fabrication TolerancesHussein Hussein, Gilles Bourbon, Patrice Le Moal, Yassine Haddab, Philippe LutzJournal of Micromechanics and Microengineering, IOP Publishing, 2017, 27 (1), pp.017001.
- Control of cable-driven manipulators in the presence of frictionSalih Abdelaziz, Laurent Barbé, Pierre Renaud, Michel de Mathelin, Bernard BayleMechanism and Machine Theory, Elsevier, 2017, 107, pp.139-147.
- From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanismQuentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet, Pierre RenaudMechanism and Machine Theory, Elsevier, 2017, 107, pp.1-12.
2016
- Hunt-Crossley Model Based Force Control For Minimally Invasive Robotic SurgeryAntonio Pappalardo, Abdulrahman Albakri, Chao Liu, Luca Bascetta, Elena de Momi, Philippe PoignetBiomedical Signal Processing and Control, Elsevier, 2016, 29, pp.31-43.
- A new revised desired compensation adaptive control for enhanced tracking: application to RA-PKMsMoussab Bennehar, Ahmed Chemori, François PierrotAdvanced Robotics, Taylor & Francis, 2016, 30 (17-18), pp.1199-1214.
- An agile manufacturing system for large workspace applicationsHai Yang, Cédric Baradat, Sébastien Krut, François PierrotInternational Journal of Advanced Manufacturing Technology, Springer Verlag, 2016, 85 (1), pp.25-35.
- Design and evaluation of an actuated knee implant for postoperative ligament imbalance correctionAndrea Collo, Shaban Almouahed, Philippe Poignet, Chafiaa Hamitouche-Djabou, Eric StindelMedical Engineering and Physics, Elsevier, 2016, 38 (4), pp.326-332.
- Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic TrainingFabien Despinoy, David Bouget, Germain Forestier, Cédric Penet, Nabil Zemiti, Philippe Poignet, Pierre JanninIEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2016, 63 (6), pp.1280-1291.
- Some investigations into the optimal dimensional synthesis of parallel robotsRidha Kelaiaia, Abdelouahab Zaatri, Olivier Company, Lotfi ChikhInternational Journal of Advanced Manufacturing Technology, Springer Verlag, 2016, 83 (9-12), pp.1525-1538.
- Discrete reconfiguration planning for Cable-Driven Parallel RobotsLorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis GirinMechanism and Machine Theory, Elsevier, 2016, 100, pp.313-337.
- Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulatorGuilherme Sartori Natal, Ahmed Chemori, François PierrotRobotica, Cambridge University Press, 2016, 34 (01), pp.43-70.
2015
- A Versatile Tension Distribution Algorithm for $n$-DOF Parallel Robots Driven by $n+2$ CablesMarc Gouttefarde, Johann Lamaury, Christopher Reichert, Tobias BruckmannIEEE Transactions on Robotics, IEEE, 2015, 31 (6), pp.1444-1457.
- Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G ExperimentGuilherme Sartori Natal, Ahmed Chemori, François PierrotIEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2015, 23 (4), pp.1520-1535.
- Dynamic Parameter Identification of Over-actuated Parallel RobotsSébastien Briot, Sébastien Krut, Maxime GautierJournal of Dynamic Systems, Measurement, and Control, American Society of Mechanical Engineers, 2015, 137 (11).
- ℒ1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time ExperimentsDivine Maalouf, Ahmed Chemori, Vincent CreuzeOcean Engineering, Elsevier, 2015, 98, pp.66-77.
- Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel RobotMarc Gouttefarde, Jean-François Collard, Nicolas Riehl, Cédric BaradatIEEE Transactions on Robotics, IEEE, 2015, 31 (2), pp.501-510.
- Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular PaperDivine Maalouf, Vincent Creuze, Ahmed Chemori, Ivan Torres Tamanaja, Eduardo Campos Mercado, Jorge Antonio Torres Muñoz, Rogelio Lozano, Olivier TempierInternational Journal of Advanced Robotic Systems, InTech, 2015, 12 (2), pp.1-15.
- Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater VehicleDivine Maalouf, Vincent Creuze, Ahmed Chemori, Olivier TempierInternational Journal of Robotics and Automation, ACTA Press, 2015, 30 (1), pp.4161-4196.
- Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and ExperimentsMoussab Bennehar, Ahmed Chemori, François Pierrot, Vincent CreuzeFrontiers in Robotics and AI, Frontiers Media S.A., 2015, 2, pp.32.
2014
- A design framework for safe surgical robots: example of the ARAKNES robot controllerLuis Alonso Sanchez Secades, Philippe Poignet, Etienne Dombre, Arianna Menciassi, Paolo DarioRobotics and Autonomous Systems, Elsevier, 2014, 62 (9), pp.1342-1352.
- 3D soft-tissue tracking using spatial-color joint probability distribution and thin-plate spline modelBo Yang, Wai-Keung Wong, Chao Liu, Philippe PoignetPattern Recognition, Elsevier, 2014, 47 (9), pp.2962-2973.
- Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis MethodsSalih Abdelaziz, Laure Esteveny, Laurent Barbé, Pierre Renaud, Bernard Bayle, Michel de MathelinJournal of Mechanical Design, American Society of Mechanical Engineers, 2014, 136 (9), pp.091006.
- Linear and nonlinear MPC for track following in the design of HDD servo systemsManel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil DerbelInternational Journal of Systems, Control and Communications, Inderscience Publishers, 2014, 6 (1), pp.20-47.
- Robust 3D Motion Tracking for Vision-Based Control in Robotic Heart SurgeryBo Yang, Chao LiuAsian Journal of Control, Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) 2014, 16 (3), pp.632-645.
- On the Use of Fixed-Intensity Functional Electrical Stimulation for Attenuating Essential TremorAntonio Padilha Lanari Bo, Christine Azevedo Coste, Christian Geny, Philippe Poignet, Charles FattalArtificial Organs, Wiley, 2014, 38 (11), pp.984-991.
- Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensationPedro Moreira, Nabil Zemiti, Chao Liu, Philippe PoignetComputer Methods and Programs in Biomedicine, Elsevier, 2014, 116 (2), pp.52-67.
- Identification and Vibration Attenuation for the Parallel Robot Par2Luiz Ricardo Douat, Isabelle Queinnec, Germain Garcia, Micaël Michelin, François Pierrot, Sophie TarbouriechIEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2014, 22 (1), pp.190-200.
Communications internationales
2020
- Continuous Tension Validation for Cable-Driven Parallel RobotsDiane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent LamirauxInternational Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas, United States. <https://www.iros2020.org/>
- RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time ExperimentsGhina Hassan, Ahmed Chemori, Lotfi Chikh, Pierre-Elie Hervé, Maher El Rafei, Clovis Francis, François Pierrot1st Virtual IFAC World Congress (IFAC-V), Jul 2020, Berlin, Germany. <https://www.ifac2020.org/>
- A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley KinematicsJoão Cavalcanti Santos, Marc Gouttefarde17th International Symposium Advances in Robot Kinematics (ARK), Jun 2020, Ljubljana, Slovenia. <https://www.ijs.si/ijsw/V000/IJS/ARK2020>
- Thermal deflection decoupled 6-DOF pose measurement of hexapodsVinayak Jagannathrao Kalas, Alain Vissiere, Olivier Company, Sébastien Krut, Pierre Noiré, Thierry Roux, François PierrotProceedings of the 20th international conference of the European Society for Precision Engineering and Nanotechnology, European Society for Precision Engineering and Nanotechnology (euspen), Jun 2020, Geneva, Switzerland.
- Redundancy Resolution integrated Model Predictive Control of CDPRs: Concept, Implementation and ExperimentsJoão Santos, Ahmed Chemori, Marc GouttefardeInternational Conference on Robotics and Automation (ICRA), May 2020, Virtual, France. <https://icra2020.org/>
- Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical SystemsChristian Saetre, Anton Shiriaev, Stepan Pchelkin, Ahmed ChemoriEuropean Control Conference (ECC), May 2020, Saint Petersburg, Russia. <https://ecc20.eu/>
2019
- Networked cooperation-based distributed model predictive control using Laguerre functions for large-scale systemsKamel Menighed, Ahmed Chemori, Boumedyen Boussaid, Joseph Juien Yamé4th International Conference On Electrical Engineering and Control Applications, ICEECA 2019, Dec 2019, Constantine, Algeria. <https://iceeca.org>
- Towards an Effective Robotic Device for Gait Rehabilitation of Children With Cerebral PalsyBoutheina Maalej, Ahmed Chemori, Nabil DerbelInternational Conference on Signal, Control and Communication (SCC), Dec 2019, Hammamet, Tunisia. <https://scc.ieee.tn/>
- A New Fast NMPC Scheme for Parallel Kinematic Manipulators: Design and Real-Time ExperimentsRihab Kouki, Ahmed Chemori, Faouzi BouaniIEEE International Conference on Signal, Control and Communication (SCC), Dec 2019, Hammamet, Tunisia. <https://scc.ieee.tn/>
- Hand Tracking Accuracy Enhancement by Data Fusion Using Leap Motion and MYOJingxiang Chen, Chao Liu, Rongxin Cui, Chenguang YangInternational Conference on Unmanned Systems and Artificial Intelligence (ICUSAI), Nov 2019, Xi'an, Shaanxi, China. <http://icusai.org/>
- A New Time-Varying Feedback RISE Control of PKMs: Theory and ApplicationHussein Saied, Ahmed Chemori, Mohamed Bouri, Maher Rafei, Clovis Francis, François PierrotInternational Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, China. pp.6775-6780.
- Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel RobotDiane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent LamirauxInternational Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ, Nov 2019, Macau, China. <https://www.iros2019.org/>
- Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM ModelYuhang Ye, Chao Liu, Nabil Zemiti, Chenguang YangRO-MAN: Robot & Human Interactive Communication, Oct 2019, New Delhi, India. <https://ro-man2019.org/>
- A Framework of Human impedance Estimation for Human-Robot InteractionJing Luo, Chao Liu, Yanan Li, Chenguang YangICAC: International Conference on Automation and Computing, Sep 2019, Lancaster, United Kingdom. <http://www.cacsuk.co.uk/index.php/conferences/icac>
- Holdable Haptic Device for 4-DOF Motion GuidanceJulie Walker, Nabil Zemiti, Philippe Poignet, Allison OkamuraWHC: World Haptics Conference, Jul 2019, Tokyo, Japan. <https://www.worldhaptics2019.org>
- Wrist Motion Recognition by Using Electromyographic SignalsJing Luo, Chenguang Yang, Chao Liu, Yuxia Yuan, Zhijun LiICARM: International Conference on Advanced Robotics and Mechatronics, Jul 2019, Toyonaka, Japan. pp.130-135.
- Robot Teleoperation System Based on Mixed RealityCongyuan Liang, Chao Liu, Xiaofeng Liu, Long Cheng, Chenguang YangICARM: International Conference on Advanced Robotics and Mechatronics, Jul 2019, Toyonaka, Japan. pp.384-389.
- Eye-on-Hand Calibration Method for Cable-Driven Parallel RobotsNicolas Tremblay, Kaveh Kamali, Philippe Cardou, Christian Desrosiers, Marc Gouttefarde, Martin J.-D. OtisCableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.345-356.
- Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel RobotsLionel Birglen, Marc GouttefardeCableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.61-71.
- A Bounding Volume of the Cable Span for Fast Collision Avoidance VerificationMaximilian Lesellier, Marc GouttefardeCableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.173-183.
- Model Predictive Control of Large-Dimension Cable-Driven Parallel RobotsJoão Santos, Ahmed Chemori, Marc GouttefardeCableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.221-232.
- How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance. ("Best Poster Award")Gustavo Gil, Julie Walker, Nabil Zemiti, Allison Okamura, Philippe PoignetHSMR: Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom. <https://www.ukras.org/hamlyn/>
- Needle Segmentation in 3D Ultrasound Volumes Based on Machine Learning for Needle SteeringGuillaume Lapouge, Hatem Younes, Philippe Poignet, Sandrine Voros, Jocelyne TroccazHamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom. <https://www.ukras.org/hamlyn/>
- Intraoperative Ultrasound-based Augmented Reality GuidanceJun Shen, Nabil Zemiti, Christophe Taoum, Jean-Louis Dillenseger, Philippe Rouanet, Philippe PoignetSURGETICA, Jun 2019, Rennes, France. <http://www.surgetica2019.eu/>
- Towards a novel man-machine interface to speed up training on robot-assisted surgeryGustavo Gil, Julie Walker, Nabil Zemiti, Allison Okamura, Philippe PoignetSURGETICA, Jun 2019, Rennes, France. <http://www.surgetica2019.eu/>
- An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel RobotJonatan Martín Escorcia-Hernández, Hipolito Aguilar-Sierra, Omar Aguilar-Mejía, Ahmed Chemori, José Arroyo-Núñez6th International Conference on Control, Decision and Information Technologies (CoDIT), Apr 2019, Paris, France. pp.361-366.
- Intelligent Tuning of Augmented L 1 Adaptive Control for Cerebral Palsy Kids RehabilitationBoutheina Maalej, Ahmed Chemori, Nabil DerbelSSD: Systems, Signals and Devices, Mar 2019, Istanbul, Turkey. In press. <https://ssd-conf.org/>
2018
- MYO Armband and Leap Motion data fusion with OpenSim based Virtual Reality EnvironmentCongyuan Liang, Chenguang Yang, Chao Liu, Ying FengICCSIP: International Conference on Cognitive Systems and Information Processing, Nov 2018, Beijing, China. <https://www.aconf.org/conf_158842>
- RISE controller for class I of underactuated mechanical systems: Design and Real-Time ExperimentsAfef Hfaiedh, Ahmed Chemori, Afef AbdelkrimICEE: International Conference on Electromechanical Engineering, Nov 2018, Skikda, Algeria. <http://conferences.univ-skikda.dz/icee2018/>
- Geometric Optimization of a Large Scale CDPR Operating on a Building FacadeHussein Hussein, João Cavalcanti Santos, Marc GouttefardeIROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5117-5124.
- An active stabilizer for cable-driven parallel robot vibration dampingMaximilian Lesellier, Loic Cuvillon, Jacques Gangloff, Marc GouttefardeIROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5063-5070.
- Actuator and Friction Dynamics Formulation in Control of PKMs: From Design to Real-Time ExperimentsHussein Saied, Ahmed Chemori, Maher Rafei, Clovis Francis, François PierrotIROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5634-5639.
- Repeatability and Reproducibility Analysis of a Multistable Module Devoted to Digital MicroroboticsIsmail Bouhadda, Abdenbi Mohand-Ousaid, Gilles Bourbon, Patrice Le Moal, Philippe Lutz, Hussein Hussein, Yassine HaddabIROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.4889-4894.
- Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication DelayChao Liu, Jing Guo, Philippe Poignet12th IFAC Symposium on Robot Control (SYROCO), Aug 2018, Budapest, Hungary. pp.493-499.
- A New Efficient Stiffness Evaluation Method to Improve Accuracy of HexapodsVinayak Jagannathrao Kalas, Alain Vissiere, Thierry Roux, Olivier Company, Sébastien Krut, François PierrotIDETC/CIE: International Design Engineering Technical Conferences and Computers and Information in Engineering, Aug 2018, Quebec City, Canada. pp.V05AT07A045.
- Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked MarkerJun Shen, Nabil Zemiti, Jean-Louis Dillenseger, Philippe PoignetEMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, Hawaii, United States. pp.878-882.
- Design of a Microbiota Sampling Capsule using 3D-Printed Bistable MechanismMouna Ben Salem, Guillaume Aiche, Lennart Rubbert, Pierre Renaud, Yassine HaddabEMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, United States. pp.4868-4871.
- Mechanical Bistable Structures for Microrobotics and Mesorobotics from Microfabrication to Additive ManufacturingYassine Haddab, Guillaume Aiche, Hussein Hussein, Mouna Ben Salem, Philippe Lutz, Lennart Rubbert, Pierre RenaudMARSS: Manipulation, Automation and Robotics at Small Scales, Jul 2018, Nagoya, Japan. pp.1-6.
- Static Modeling of Sagging Cables With Flexural Rigidity and Shear ForcesHussein Hussein, Marc Gouttefarde, François PierrotARK: Advances in Robot Kinematics, Jul 2018, Bologna, Italy. pp.310-318.
- Intraoperative Ultrasonography-based Augmented Reality For Application In Image Guided Robotic SurgeryJun Shen, Nabil Zemiti, Agnès Viquesnel, Oscar Caravaca Mora, Auguste Courtin, Renaud Garrel, Jean-Louis Dillenseger, Philippe PoignetCARS: Computer Assisted Radiology and Surgery, Jun 2018, Berlin, Germany. <https://www.cars-int.org/fileadmin/templates/downkoad/cars2018_final_programm.pdf>
- Cable-Driven Parallel Robots: Principle and Applications of an Advanced Crane SystemJean-Baptiste Izard, Marc Gouttefarde, Hussein Hussein, Christoph Martin, Werner Kraus, Andreas Pott, Mariola RodriguezICAE: International Congress on Architectural Envelopes, Jun 2018, San Sebastian-Donostia, Spain. <https://icae2018.eu/?lang=en>
- Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator ArmFrançois Leborne, Vincent Creuze, Ahmed Chemori, Lorenzo BrignoneICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.1-9.
2017
- Towards unified dataset for Modeling and Monitoring of Computer Assisted Medical InterventionsFabien Despinoy, Sandrine Voros, Nabil Zemiti, Nicolas Padoy, Pierre JanninSURGETICA, Nov 2017, Strasbourg, France.
- Augmented Reality Visualization Based On 3D UltrasonographyJun Shen, Nabil Zemiti, Oscar Caravaca Mora, Simon Antoine, Jean-Louis Dillenseger, Philippe PoignetSURGETICA, Nov 2017, Strasbourg, France.
- Can Multi-Sensory Feedbacks Improve Laparoscopic Surgery Training?Ninon Candalh-Touta, Philippe Poignet, Jérome SzewczykSURGETICA, Nov 2017, Strasbourg, France.
- Battery-free force sensor for instrumented knee implantShaban Almouahed, Chafiaa Hamitouche-Djabou, Philippe Poignet, Eric StindelHI-POCT: Healthcare Innovations and Point-of-Care Technologies, Nov 2017, Bethesda, United States. <10.1109/HIC.2017.8227570>
- From Non-Model-Based to Model-Based Control of PKMs: A Comparative StudyHussein Saied, Ahmed Chemori, Maher El Rafei, Clovis Francis, François PierrotICAMMRMS: International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, Oct 2017, Beyrouth, Lebanon. <http://www.ulfg.ul.edu.lb/conferences/2/ICAMMRMS-2017>
- Control of Complex Robotic Systems: Challenges, Design and ExperimentsAhmed ChemoriMMAR: Methods and Models in Automation and Robotics, Aug 2017, Miedzyzdroje, Poland. pp.622-631.
- Twist Feasibility Analysis of Cable-Driven Parallel RobotsSaman Lessanibahri, Marc Gouttefarde, Stéphane Caro, Philippe Cardou3rd International Conference on Cable-Driven Parallel Robots, Aug 2017, Québec, Canada. pp.128-139.
- Estimating inertial parameters of suspended cable-driven parallel robots — Use case on CoGiRoPhilipp Tempel, Pierre-Elie Hervé, Olivier Tempier, Marc Gouttefarde, Andreas PottICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6093-6098.
- A Novel Adaptive Terminal Sliding Mode Control for Parallel Manipulators: Design and Real-Time ExperimentsMoussab Bennehar, Gamal El-Ghazaly, Ahmed Chemori, François PierrotICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6086-6092.
2016
- Beveled-Tip Needle-Steering Using 3D Ultrasound, Mechanical-Based Kalman Filter and Curvilinear ROI PredictionPaul Mignon, Philippe Poignet, Jocelyne TroccazICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. <10.1109/ICARCV.2016.7838840>
- Optimization of concentric-tube robot design for deep anterior brain tumor surgeryMohamed Nassim Boushaki, Chao Liu, Benoît Herman, Vincent Trévillot, Mohamed Akkari, Philippe PoignetICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. <10.1109/ICARCV.2016.7838563>
- Motion control architecture of a 4-fin U-CAT AUV using DOF prioritizationTaavi Salumäe, Ahmed Chemori, Maarja KruusmaaIROS: Intelligent RObots and Systems, Oct 2016, Daejeon, South Korea. pp.1321-1327.
- Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial ManipulatorMarc GouttefardeEUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.363-371.
- Determination of a Rigid Body Orientation By Means of Indirect MeasurementsIrina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François PierrotEUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.61-69.
- Towards the control of tensegrity mechanisms for variable stiffness applications: a case studyQuentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet, Pierre RenaudEUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.163-171.
- Maximum wrench feasible payload in cable-driven parallel robots equipped with a serial robotGamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze, François PierrotAIM: Advanced Intelligent Mechatronics, Jul 2016, Banff, Canada. pp.1572-1578.
- Innovative Approach to Use Air Bearings in Cubesat Ground TestsIrina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent DusseauCubeSat Workshop, ESA, CNES, May 2016, La Valette, Malta. <http://esaconferencebureau.com/docs/default-source/16a02_docs/cubesat-2016-programme2362728B8535.pdf?sfvrsn=2>
- Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experimentsHala Rifaï, Mohamed Ben Abdessalem, Ahmed Chemori, Samer Mohammed, Yacine AmiratICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.5708-5714.
- Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditionsAhmed Chemori, Keijo Kuusmik, Taavi Salumae, Maarja KruusmaaICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.4750-4755.
- Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot designQuentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre RenaudICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.661-667.
2015
- Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems: A Study on Force CapabilitiesGamal El-Ghazaly, Marc Gouttefarde, Vincent CreuzeIROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.1672-1678.
- Robotic Test Bench for CubeSat Ground Testing: Concept and Satellite Dynamic Parameter IdentificationIrina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent DusseauIROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. pp.5447-5453.
- Control of a Perturbed Under-Actuated Mechanical SystemChadia Zayane-Aissa, Taous-Meriem Laleg-Kirati, Ahmed ChemoriCCA: Conference on Control Applications, Sep 2015, Sydney, Australia. pp.249-299.
- Motion Prediction Using Dual Kalman Filter for Robust Beating Heart TrackingBo Yang, Chao Liu, Philippe Poignet, Zheng Wenfeng, Shan LiuEMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4875-4878.
- Enhanced Position-Force Tracking of Time-Delayed Teleoperation for Robotic-Assisted SurgeryJing Guo, Chao Liu, Philippe PoignetEMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4894-4897.
- Using Rotation for Steerable Needle Detection in 3D Color-Doppler Ultrasound ImagesPaul Mignon, Philippe Poignet, Jocelyne TroccazEMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milano, Italy. pp.1544-1547.
- Dimensioning of Cable-Driven Parallel Robot Actuators, Gearboxes and Winches according to the Twist Feasible WorkspaceLorenzo Gagliardini, Stéphane Caro, Marc GouttefardeCASE: Conference on Automation Science and Engineering, IEEE, Aug 2015, Göteborg, Sweden. pp.99-105.
- Dynamics effects on natural frequencies in modal analysis of PKMsJulien Prades, Franck Jourdan, Olivier Company, Sébastien Krut, François PierrotMMAR: Methods and Models in Automation and Robotics, Aug 2015, Miedzyzdroje, Poland. pp.300-305.
- Parallel Singularities for the Design of Softening Springs Using Compliant MechanismsQuentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre RenaudIDETC/CIE: International Design Engineering Technical Conferences and Computers and Information in Engineering, Aug 2015, Boston, MA, United States. pp.V05AT08A019.
- Needle Deflection Prediction Using Adaptive Slope ModelEderson Antônio Gomes Dorileô, Nabil Zemiti, Philippe PoignetICAR: International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65.
- Stable and Enhanced Position-Force Tracking for Bilateral Teleoperation with Time DelayJing Guo, Chao Liu, Philippe PoignetECC: European Control Conference, Jul 2015, Linz, Austria. pp.1980-1985.
- Simplified adaptive path planning for percutaneous needle insertionsEderson Antônio Gomes Dorileô, Abdulrahman Albakri, Nabil Zemiti, Philippe PoignetICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1782-1788.
- A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel RobotsLorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis GirinICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1613-1620.
- L1 Adaptive Control of Parallel Kinematic Manipulators: Design and Real-Time ExperimentsMoussab Bennehar, Ahmed Chemori, François PierrotICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1587-1592.
2014
- Environment Modeling with Physiological Motion Disturbance for Surgical TeleoperationAbdulrahman Albakri, Chao Liu, Philippe PoignetICCARV: International Conference on Control, Automation, Robotics and Vision, Dec 2014, Singapore, Singapore. pp.1298-1303.
- A novel contactless human-machine interface for laparoscopic telesurgeryFabien Despinoy, Luis Alonso Sanchez Secades, Nabil Zemiti, Pierre Jannin, Philippe PoignetSURGETICA, Dec 2014, Chambéry, France.
- A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time ExperimentsDavid Galdeano, Ahmed Chemori, Sébastien Krut, Philippe FraisseHumanoids, Nov 2014, Madrid, Spain. pp.693-698.
- A prediction-based optimal gain selection in RISE feedback control for hard disk driveManel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil DerbelCCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.2114-2119.
- External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experimentsNahla Khraief Haddad, Ahmed Chemori, Safya BelghithCCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.1747-1752.
- Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic PlatformAdrian Graña Sanchez, Luis Alonso Sanchez Secades, Nabil Zemiti, Philippe PoignetIROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.1216-1221.
- Study of Reconfigurable Suspended Cable-Driven Parallel Robots for Airplane MaintenanceDinh Quan Nguyen, Marc GouttefardeIROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.1682-1689.
- Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precisionSamah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François PierrotIROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.1716-1723.
- A New Extension of Desired Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMsMoussab Bennehar, Ahmed Chemori, François PierrotIROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.1670-1675.
- On the performance evaluation and analysis of general robots with mixed dofsSamah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François PierrotIROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.490-497.
- A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel ManipulatorsMoussab Bennehar, Ahmed Chemori, François PierrotIROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.2389-2394.
- A Miniaturised Actuation System Embedded in an Instrumented Knee Implant for Postoperative Ligament Imbalance CorrectionAndrea Collo, Philippe Poignet, Chafiaa Hamitouche-Djabou, Shaban Almouahed, Eric StindelEMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, Il, United States. pp.6211-6214.
- Haptic Teleoperation and Concentric Tube Robot - Some New Control Developments for New Surgical Robot ApplicationsChao Liu, Philippe PoignetEMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States.
- Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic SystemJing Guo, Chao Liu, Philippe PoignetEMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. pp.361-365.
- On the Improvement of Cable Collision Detection AlgorithmsDinh Quan Nguyen, Marc GouttefardeCableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.29-40.
- Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)Micaël Michelin, Cédric Baradat, Dinh Quan Nguyen, Marc GouttefardeCableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.71-83.
- Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRoGamal El-Ghazaly, Marc Gouttefarde, Vincent CreuzeCableCon: Cable-Driven Parallel Robots, Tobias Bruckmann; Andreas Pott, Aug 2014, Duisburg, Germany. pp.179-200.
- A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large StructuresLorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis GirinCableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.275-291.
- An active tibial component for potoperative fine tuning adjustment of knee ligament imbalanceAndrea Collo, Philippe Poignet, Chafiaa Hamitouche-Djabou, Shaban Almouahed, Eric StindelBioRob: Biomedical Robotics and Biomechatronics, Aug 2014, Sao Paulo, Brazil. pp.126-131.
- Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and PulleysMarc Gouttefarde, Dinh Quan Nguyen, Cédric BaradatARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.213-221.
- On the Analysis of Large-Dimension Reconfigurable Suspended Cable-Driven Parallel RobotsDinh Quan Nguyen, Marc Gouttefarde, Olivier Company, François PierrotICRA: International Conference on Robotics and Automation, Jun 2014, Hong-Kong, China. pp.5728-5735.
- Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel ManipulatorSamah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François PierrotARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.545-553.
- Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its HomogenizationDinh Quan Nguyen, Marc GouttefardeARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.181-191.
- Influence of Spring Characteristics on the Behavior of Tensegrity MechanismsQuentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre RenaudARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.161-169.
- Modelling and Control of an ERF-based Needle Insertion Training PlatformAdrian Graña Sanchez, Luis Alonso Sanchez Secades, Nabil Zemiti, Philippe PoignetIPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.31-40.
- Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic TelesurgeryFabien Despinoy, Luis Alonso Sanchez Secades, Nabil Zemiti, Pierre Jannin, Philippe PoignetIPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.21-30.
- A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures PlanningEderson Antônio Gomes Dorileô, Nikolai Hungr, Nabil Zemiti, Ivan Bricault, Céline Fouard, Philippe PoignetCARS: Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan.
- Contribution Of Different Drawing Tasks In The Assessment Of Essential TremorChristian Geny, Christine Azevedo Coste, Audrey Gabelle-Deloustal, Charles Fattal, Philippe Poignet, Antonio Padilha Lanari BoMDS: Movement Disorder Society, Jun 2014, Stockholm, Sweden. pp.1133.
- Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate JacobianMohamed Nassim Boushaki, Chao Liu, Philippe PoignetICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.5877-5882.
- Optimal Design of Cable-Driven Parallel Robots for Large Industrial StructuresLorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis GirinICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. pp.5744-5749.
- A novel (3T-2R) parallel mechanism with large operational workspace and rotational capabilitySamah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François PierrotICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.5712-5719.
- Test Bench For Nanosatellite Attitude Determination And Control System Ground TestsIrina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau4S: Small Satellites Systems and Services Symposium, May 2014, Porto Petro, Spain. <http://congrexprojects.com/2014-events/4S2014/home>
- RISE Feedback Control for a R/W Head Track Following in Hard Disc DrivesManel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil DerbelSSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. <10.1109/SSD.2014.6808811>
- Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic ManipulatorsMoussab Bennehar, Ahmed Chemori, Sébastien Krut, François PierrotSSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. <10.1109/SSD.2014.6808879>
- Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motionDavid Galdeano, Ahmed Chemori, Sébastien Krut, Philippe FraisseSSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. <10.1109/SSD.2014.6808778>
Dernière mise à jour le 02/12/2020
Vidéos DEXTER
Démonstrateur du projet ANR COGIRO: Prototype de grand robot parallèle à câbles réalisé par l’équipe DEXTER et Tecnalia
Fiche-équipe DEXTER
Télécharger la fiche-équipe DEXTER du rapport d'activité 2008-2013 :