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
- 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
- Guillaume Aiche, CDD Ingénieur-Technicien UM
- Mouna Ben Salem, Doctorant
- Joao Cavalcanti Santos, Doctorant
- Gustavo Gil Gargolani, CDD Chercheur
- Jr Martin Jurado Realpe, Doctorant
- Vinayak Kalas, Doctorant
- Laure Koebel, Doctorant UM
- Lucas Lavenir, Doctorant UM
- Maximilien Lesellier, Doctorant CNRS
- Joseph Massin, CDD Ingénieur-Technicien CNRS
- Hussein Saied, Doctorant
- Auwal Tijjani Shehu, Doctorant Campus France
- Jun Shen, Doctorant
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
2019
- Skeleton arc additive manufacturing with closed loop controlSimon Radel, Adama Diourte, Fabien Soulier, Olivier Company, Cyril BordreuilAdditive Manufacturing, Elsevier, 2019, 26, pp.106-116.
- Trajectory tracking for autonomous underwater vehicle: An adaptive approachJesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed ChemoriOcean Engineering, Elsevier, 2019, 172, pp.511-522.
- 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.
- 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.
- 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
- 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.
- 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.
- 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.
- A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time DelayJing Guo, Chao Liu, Philippe PoignetJournal of Intelligent and Robotic Systems, Springer Verlag (Germany), In press, pp.1-28.
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 Munoz, Rogelio LozanoMechatronics, Elsevier, 2017, 45, pp.49-59.
- Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experimentsNahla Haddad, Ahmed Chemori, Safya BelghithInternational Journal of Control, Taylor & Francis, 2017, pp.1-16.
- 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, 2017, pp.1-15.
- From Hopf-bifurcation to limit cycles control in underactuated mechanical systemsNahla Haddad, Safya Belghith, Hassène Gritli, Ahmed ChemoriInternational Journal of Bifurcation and Chaos, 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.
- 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.
- 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.
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, 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.
- 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.
- 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.
- 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.
- 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 Torres Muñoz, Rogelio Lozano, Olivier TempierInternational Journal of Advanced Robotic Systems, InTech, 2015, 12 (2), pp.1-15.
2014
- A design framework for safe surgical robots: example of the ARAKNES robot controllerAlonso Sánchez, 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.
- Identification and Vibration Attenuation for the Parallel Robot Par2Luiz 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.
- 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.
Communications internationales
2018
- 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. 31st IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018. <https://www.iros2018.org>
- Geometric Optimization of a Large Scale CDPR Operating on a Building FacadeHussein Hussein, João Santos, Marc GouttefardeIROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. 31st IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018. <https://www.iros2018.org>
- 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. 31st IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018. <https://www.iros2018.org>
- 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. IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4889-4894, 2018.
- Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication DelayChao Liu, Jing Guo, Philippe PoignetSYROCO: Symposium on Robot Control, Aug 2018, Budapest, Hungary. 12th IFAC Symposium on Robot Control, 2018. <http://www.syroco2018.org/>
- 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. 40th IEEE Conference on Engineering in Medicine and Biology Conference, 2018.
- Design of a Microbiota Sampling Capsule using 3D-Printed Bistable MechanismMouna Salem, Guillaume Aiche, Lennart Rubbert, Pierre Renaud, Yassine HaddabEMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, United States. 40th Engineering in Medicine and Biology Conference, 2017. <10.1109/EMBC.2018.8513141>
- 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. IEEE, International Conference on Manipulation, Automation and Robotics at Small Scales, pp.1-6, 2018.
- Static Modeling of Sagging Cables With Flexural Rigidity and Shear ForcesHussein Hussein, Marc Gouttefarde, François PierrotARK: Advances in Robot Kinematics, Jul 2018, Bologna, Italy. 16th International Symposium on Advances in Robot Kinematics, pp.310-318, 2018.
- 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. 32nd International Congress and Exhibition on Computer Assisted Radiology and Surgery, 2018. <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. 8th International Congress on Architectural Envelopes, 2018. <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. 35th IEEE International Conference on Robotics and Automation, pp.1-9, 2018.
2017
- Battery-free force sensor for instrumented knee implantShaban Almouahed, Chafiaa Hamitouche, Philippe Poignet, Eric StindelHI-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>
- 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. 1st International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, 2017. <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. 22nd International Conference on Methods and Models in Automation and Robotics, 2017.
- Twist Feasibility Analysis of Cable-Driven Parallel RobotsSaman Lessanibahri, Marc Gouttefarde, Stéphane Caro, Philippe CardouCableCon: 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.
- 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. IEEE, 34th IEEE International Conference on Robotics and Automation, pp.6093-6098, 2017.
- 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. 34th IEEE International Conference on Robotics and Automation, pp.6086-6092, 2017.
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. IEEE, 14th International Conference on Control, Automation, Robotics and Vision, pp.1-6, 2017.
- Optimization of concentric-tube robot design for deep anterior brain tumor surgeryMohamed Nassim Boushaki, Chao Liu, Benoit Herman, Vincent Trévillot, Mohamed Akkari, Philippe PoignetICCARV: 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>
- 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. 29th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1321-1327, 2016.
- Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial ManipulatorMarc GouttefardeEUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. 6th European Conference on Mechanism Science, pp.363-371, 2016.
- 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. 6th European Conference on Mechanism Science, Mechanisms and Machine Science (43), pp.163-171, 2016, New Trends in Mechanism and Machine Science.
- 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. 6th European Conference on Mechanism Science, pp.61-69, 2017.
- 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. IEEE, IEEE International Conference on Advanced Intelligent Mechatronics, 2016. <10.1109/AIM.2016.7576994>
- Dynamic recovery of cable-suspended parallel robots after a cable failureBerti Allessando, Marc Gouttefarde, Marco CarricatoARK: 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>
- Innovative Approach to Use Air Bearings in Cubesat Ground TestsIrina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent DusseauCubeSat 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>
- 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. 33rd IEEE International Conference on Robotics and Automation, pp.661-667, 2016.
- Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experimentsHala Rifai, Mohamed Ben Abdessalem, Ahmed Chemori, Samer Mohammed, Yacine AmiratProc. Of the IEEE International Conference on Robotics and Automation, ICRA 2016, May 2016, Stockholm, Sweden. IEEE, 33rd IEEE International Conference on Robotics and Automation, pp.5708-5714, 2016.
- 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. 33rd IEEE International Conference on Robotics and Automation, pp.4750-4755, 2016.
2015
- 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. 28th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5447-5453, 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. IEEE/RSJ, 28th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1672-1678, 2015.
- Control of a Perturbed Under-Actuated Mechanical SystemChadia Zayane-Aissa, Taous-Meriem Laleg-Kirati, Ahmed ChemoriCCA: Conference on Control Applications, Sep 2015, Sydney, Australia. IEEE Conference on Control Applications, pp.249-299, 2015.
- 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. 37th International Conference of the IEEE Engineering in Medicine and Biology Society, pp.4875-4878, 2015.
- 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. 37th International Conference of the IEEE Engineering in Medicine and Biology Society, pp.4894-4897, 2015.
- 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. 37th International Conference of the IEEE Engineering in Medicine and Biology Society, pp.1544-1547, 2015.
- Dimensioning of Cable-Driven Parallel Robot Actuators, Gearboxes And Winches According To The Twist Feasible WorkspaceLorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis GirinCASE: Conference on Automation Science and Engineering, Aug 2015, Gothenburg, Sweden. IEEE, pp.99-106.
- 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. 20th International Conference on Methods and Models in Automation and Robotics, 2015. <10.1109/mmar.2015.7283891>
- 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, Aug 2015, Göteborg, Sweden. 11th IEEE International Conference on Automation Science and Engineering, 2015. <10.1109/CoASE.2015.7294046>
- 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 & Computers and Information in Engineering Conference, Aug 2015, Boston, Massachusetts, United States. 5A, 2015, 39th Mechanisms and Robotics Conference. <10.1115/DETC2015-47240>
- Needle Deflection Prediction Using Adaptive Slope ModelEderson Dorileo, Nabil Zemiti, Philippe PoignetICAR: International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. IEEE, pp.60-65, 2015.
- Stable and Enhanced Position-Force Tracking for Bilateral Teleoperation with Time DelayJing Guo, Chao Liu, Philippe PoignetECC: European Control Conference, Jul 2015, Linz, Austria. 14th annual European Control Conference (ECC'15), pp.1980-1985, 2015.
- Effect of Non-Passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case StudyJing Guo, Chao Liu, Philippe PoignetMesRob: Medical and Service Robots, Jul 2015, Nante, France. 4th International Workshop on Medical and Service Robots (MesRob'15), 2015.
- 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. 32nd IEEE International Conference on Robotics and Automation, 2015. <10.1109/ICRA.2015.7139400>
- Simplified adaptive path planning for percutaneous needle insertionsEderson Dorileo, Abdulrahman Albakri, Nabil Zemiti, Philippe PoignetICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. 32nd IEEE International Conference on Robotics and Automation, pp.1782-1788, 2015.
- 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. 32nd IEEE International Conference on Robotics and Automation, 2015. <10.1109/ICRA.2015.7139404>
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. 13th International Conference on Control Automation Robotics & Vision, pp.1298-1303, 2014.
- 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. 14th IEEE-RAS International Conference on Humanoid Robots, pp.693-698, 2014, Humans and Robots Face-to-Face.
- 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. IEEE, IEEE Conference on Control Applications (CCA) Part of 2014 IEEE Multi-conference on Systems and Control, 2014. <10.1109/CCA.2014.6981615>
- 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, Antibes, France. IEEE Conference on Control Applications (CCA) Part of 2014 IEEE Multi-conference on Systems and Control, 2014. <10.1109/CCA.2014.6981565>
- 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. IEEE/RSJ, 27th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1216-1221, 2014.
- Dimensional synthesis of 4 Dofs (3T-1R) actuatedly rendundant parallel manipulateur based on dual criteria: Dynamics and precisionSamah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrotdly rendundant parallel manipulateur based on dual criteria: Dynamics and precision. IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. 27th IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014. <http://www.iros2014.org/>
- A New Extension of Desired Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMsMoussab Bennehar, Ahmed Chemori, François PierrotIEEE/RAS International Conference on Robotic Systems, Sep 2014, Chicago, United States. pp.1670-1675, 2014.
- A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel ManipulatorsMoussab Bennehar, Ahmed Chemori, François PierrotIEEE/RAS International Conference on Robotic Systems, Sep 2014, Chicago, United States. pp.2389-2394, 2014.
- On the performance evaluation and analysis of general robots with mixed dofsSamah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François PierrotIROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. 27th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.490-497, 2014.
- 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. IEEE/RSJ, 27th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1682-1689, 2014.
- 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. 36th International Conference of the IEEE Engineering in Medicine and Biology Society, 2014.
- 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. 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.361-365, 2014, Discovering, Innovating, and Engineering Future Biomedicine.
- 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. Proceedings of the Second International Conference on Cable-Driven Parallel Robots, Part. I, 32, pp.71-83, 2014, Mechanisms and Machine Science.
- 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. 2nd International Conference on Cable-Driven Parallel Robots, Part IV, 32, pp.275-291, 2014, Mechanisms and Machine Science.
- On the Improvement of Cable Collision Detection AlgorithmsDinh Quan Nguyen, Marc GouttefardeCableCon: 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.
- Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRoGamal El-Ghazaly, Marc Gouttefarde, Vincent CreuzeAndreas 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.
- An active tibial component for potoperative fine tuning adjustment of knee ligament imbalanceAndrea Collo, Philippe Poignet, Chafiaa Hamitouche, Shaban Almouahed, Eric StindelBioRob: Biomedical Robotics and Biomechatronics, Aug 2014, Sao Paulo, Brazil. 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.126 - 131, 2014.
- 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. 14th International Symposium on Advances in Robot Kinematics, pp.213-221, 2014.
- Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel ManipulatorSamah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François PierrotARK: Advances in Robots Kinematic, Jun 2014, Ljubljana, Slovenia. 14th International Symposium on Advances in Robot Kinematic, pp.545-553, 2014.
- 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. IEEE, 31st IEEE International Conference on Robotics and Automation, pp.5728-5735, 2014.
- Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its HomogenizationDinh Quan Nguyen, Marc GouttefardeARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. 14th International Symposium on Advances in Robot Kinematic, pp.181-191, 2014.
- 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. 14th International Symposium on Advances in Robot Kinematic, pp.161-169, 2014.
- Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic TelesurgeryFabien Despinoy, Alonso Sánchez, Nabil Zemiti, Pierre Jannin, Philippe PoignetDanail 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.
- A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures PlanningEderson Dorileo, Nikolai Hungr, Nabil Zemiti, Ivan Bricault, Céline Fouard, Philippe PoignetCARS: Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan. 28th International Congress and Exhibition on Computer Assisted Radiology and Surgery, 2014.
- Modelling and Control of an ERF-based Needle Insertion Training PlatformAdrian Graña Sanchez, Alonso Sánchez, Nabil Zemiti, Philippe PoignetIPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. 5th International Conference on Information Processing in Computer-Assisted Interventions, pp.31-40, 2014.
- A novel (3T-2R) parallel mechanism with large operational workspace and rotational capabilitySamah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François PierrotICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. 31st IEEE International Conference on Robotics and Automation, pp.5712-5719, 2014.
- 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. IEEE, 31st IEEE International Conference on Robotics and Automation, pp.5744-5749, 2014.
- 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. 31st IEEE International Conference on Robotics and Automation, pp.5877-5882, 2014.
- 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. 2014, Dynamic Small Satellites in a Dynamic Economy. <http://congrexprojects.com/2014-events/4S2014/home>
- Human based hybrid kinematic/dynamic whole-body control in humanoid roboticsDavid Galdeano, Ahmed Chemori, Sébastien Krut, Philippe FraisseHLR: 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>
- 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. 11th International Multi-Conference on Systems, Signals and Devices, 2014, SAC: Systems, Analysis and Automatic Control. <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. 11th International Multi-Conference on Systems, Signals and Devices, 2014, SAC: Systems, Analysis and Automatic Control. <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. IEEE, 11th International Multi-Conference on Systems, Signals and Devices, 2014, SAC: Systems, Analysis and Automatic Control. <10.1109/SSD.2014.6808778>
Dernière mise à jour le 15/02/2019
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 :