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

Non permanents

Thématiques de recherche

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

  • Robotique médicale
  • Robotique parallèle

Publications principales

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

Collaborations externes

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

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

Faits marquants

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

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

Publications depuis 2014 - Evaluation 2019

Articles de revues internationales

2021

  1. On Robust Mechanical Design of PAR2 Delta-Like Parallel Kinematic Manipulator
    Allaoua Brahmia, Ridha Kelaiaia, Ahmed Chemori, Olivier Company
    Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2021, pp.#JMR-21-1145.
  2. Reproducing Human Arm Strategy and Its Contribution to Balance Recovery Through Model Predictive Control
    Keli Shen, Ahmed Chemori, Mitsuhiro Hayashibe
    Frontiers in Neurorobotics, Frontiers, 2021, 15 (#679570). <10.3389/fnbot.2021.679570>
  3. HFUS Imaging of the Cochlea: A Feasibility Study for Anatomical Identification by Registration with MicroCT
    Lucas Lavenir, Nabil Zemiti, Mohamed Akkari, Gérard Subsol, Frederic Venail, Philippe Poignet
    Annals of Biomedical Engineering, Springer Verlag, 2021, 49 (5), pp.1308-1317.
  4. Diver tracking in open waters: A low‐cost approach based on visual and acoustic sensor fusion
    Mohamed Walid Remmas, Ahmed Chemori, Maarja Kruusmaa
    Journal of Field Robotics, Wiley, 2021, 38 (3), pp.494-508.
  5. Robust Adaptive Tracking Control of Underwater Vehicles: Design, Stability Analysis and Experiments
    Auwal Tijjani Shehu, Ahmed Chemori, Vincent Creuze
    IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2021, 26 (2), pp.897-907.
  6. Feasibility of Cochlea High-frequency Ultrasound and Microcomputed Tomography Registration for Cochlear Computer-assisted Surgery: A Testbed
    Mohamed Akkari, Gérard Subsol, Nabil Zemiti, Lucas Lavenir, Charlotte Farah, Florence François, Michel Mondain, Guillaume Captier, Philippe Poignet, Frédéric Venail
    Otology and Neurotology, Lippincott, Williams & Wilkins, In press, Publish Ahead of Print. <10.1097/mao.0000000000003091>
  7. Compact Digital Microrobot Based on Multistable Modules
    Abdenbi Mohand Ousaid, Ismail Bouhadda, Gilles Bourbon, Patrice Le Moal, Yassine Haddab, Philippe Lutz
    IEEE Robotics and Automation Letters, IEEE 2021, 6 (2), pp.1926-1933.

2020

  1. Admittance-Controlled Robotic Assistant for Fibula Osteotomies in Mandible Reconstruction Surgery
    Lingbo Cheng, Jay Carriere, Jakub Piwowarczyk, Daniel Aalto, Nabil Zemiti, Marie de Boutray, Mahdi Tavakoli
    Advanced Intelligent Systems, Wiley, 2020. <10.1002/aisy.202000158>
  2. Observation-Based Nonlinear Proportional–Derivative Control for Robust Trajectory Tracking for Autonomous Underwater Vehicles
    Jesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori
    IEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, 2020, 45 (4), pp.1190-1202.
  3. Towards 3D ultrasound guided needle steering robust to uncertainties, noise and tissue heterogeneity
    Guillaume Lapouge, Philippe Poignet, Jocelyne Troccaz
    IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, In press, 68 (4), pp.1166-1177.
  4. A New Adaptive RISE Feedforward Approach based on Associative Memory Neural Networks for the Control of PKMs
    Jonatan Martín Escorcia-Hernández, Hipolito Aguilar-Sierra, Omar Aguilar-Mejía, Ahmed Chemori, José Humbérto Arroyo-Nuñez
    Journal of Intelligent and Robotic Systems, Springer Verlag, 2020, 200, pp.827-847.
  5. A method of motion recognition based on electromyographic signals
    Jing Luo, Chao Liu, Ying Feng, Chenguang Yang
    Advanced Robotics, Taylor & Francis, 2020, 34 (15), pp.976-984.
  6. Human-like Balance Recovery Based on Numerical Model Predictive Control Strategy
    Keli Shen, Ahmed Chemori, Mitsuhiro Hayashibe
    IEEE Access, IEEE, 2020, 8, pp.92050-92060.
  7. Adaptive Disturbance Observer for Trajectory Tracking of Underwater Vehicles
    Jesus Guerrero, Jorge Antonio Torres Muñoz, Vincent Creuze, Ahmed Chemori
    Ocean Engineering, Elsevier, 2020, 200, pp.#107080.
  8. Transrectal Ultrasound Image-based Real-time Augmented Reality Guidance in Robot-assisted Laparoscopic Rectal Surgery: A Proof of Concept Study
    Jun Shen, Nabil Zemiti, Christophe Taoum, Guillaume Aiche, Jean-Louis Dillenseger, Philippe Rouanet, Philippe Poignet
    International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2020, 15 (3), pp.531-543.
  9. A new solution for machining with RA-PKMs: Modelling, control and experiments
    Jonatan Martín Escorcia-Hernández, Ahmed Chemori, Hipolito Aguilar-Sierra, Arturo Jesús Monroy-Anieva
    Mechanism and Machine Theory, Elsevier, 2020, 150, pp.#103864.
  10. RISE-based adaptive control for EICoSI exoskeleton to assist knee joint mobility
    Kashif I.K. Sherwani, Neelesh Kumar, Ahmed Chemori, Munna Khan, Samer Mohammed
    Robotics and Autonomous Systems, Elsevier, 2020, 124, pp.#103354.
  11. Resolution evaluation of 6-degree-of-freedom precision positioning systems: Definitions and apparatus
    Alain Vissiere, Sébastien Krut, Thierry Roux, Pierre Noiré, Olivier Company, François Pierrot
    Measurement - Journal of the International Measurement Confederation (IMEKO), Elsevier, In press.
  12. Sparse-view CBCT reconstruction via weighted Schatten p-norm minimization
    Congcong Xu, Bo Yang, Fupei Guo, Wenfeng Zheng, Philippe Poignet
    Optics Express, Optical Society of America - OSA Publishing, 2020, 28 (24), pp.35469-35482.

2019

  1. A Novel Robotic Guidance System with Eye Gaze Tracking Control for Needle based Interventions
    Jing Guo, Yi Liu, Qing Qiu, Jie Huang, Chao Liu, Zhiguang Cao, Yue Chen
    IEEE Transactions on Cognitive and Developmental Systems, Institute of Electrical and Electronics Engineers, Inc, In press, pp.1-1.
  2. A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and Experiments
    Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher Rafei, Clovis Francis, François Pierrot
    International Journal of Control, Taylor & Francis, 2019. <10.1080/00207179.2019.1704063>
  3. A wave variable approach with multiple channel architecture for teleoperated system
    Jing Luo, Chao Liu, Ning Wang, Chenguang Yang
    IEEE Access, IEEE, 2019, 7, pp.143912-143920.
  4. Haptics Electromyography Perception and Learning Enhanced Intelligence for Teleoperated Robot
    Chenguang Yang, Jing Luo, Chao Liu, Miao Li, Shi-Lu Dai
    IEEE Transactions on Automation Science and Engineering, Institute of Electrical and Electronics Engineers, 2019, 16 (4), pp.1512-1521.
  5. Modeling and Vision-Based Control of Large-Dimension Cable-Driven Parallel Robots Using a Multiple-Camera Setup
    Tej Dallej, Marc Gouttefarde, Nicolas Andreff, Pierre-Elie Hervé, Philippe Martinet
    Mechatronics, Elsevier, 2019, 61, pp.20-36.
  6. A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay
    Jing Guo, Chao Liu, Philippe Poignet
    Journal of Intelligent and Robotic Systems, Springer Verlag, 2019, 95, pp.165-192.
  7. Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experiments
    Jesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori, Eduardo Campos Mercado
    Mechatronics, Elsevier, 2019, 61, pp.96-105.
  8. Characterization of bistable mechanisms for microrobotics and mesorobotics
    Mouna Ben Salem, Hussein Hussein, Guillaume Aiche, Yassine Haddab, Philippe Lutz, Lennart Rubbert, Pierre Renaud
    Comparison between microfabrication and additive manufacturing. Journal of Micro-Bio Robotics., Springer, 2019, 15 (1), pp.65-77.
  9. A Robot Learning Method with Physiological Interface for Teleoperation Systems
    Jing Luo, Chenguang Yang, Hang Su, Chao Liu
    Applied Sciences, MDPI, 2019, 9 (10), pp.2099.
  10. Estimation of EMG-Based Force Using a Neural-Network-Based Approach
    Jing Luo, Chao Liu, Chenguang Yang
    IEEE Access, IEEE, 2019, 7, pp.64856-64865.
  11. Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches
    Jeremy Begey, Loic Cuvillon, Maximilian Lesellier, Marc Gouttefarde, Jacques Gangloff
    IEEE Transactions on Robotics, IEEE, 2019, 35 (1), pp.286-293.
  12. Trajectory tracking for autonomous underwater vehicle: An adaptive approach
    Jesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori
    Ocean Engineering, Elsevier, 2019, 172, pp.511-522.
  13. Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot
    Taavi Salumäe, Ahmed Chemori, Maarja Kruusmaa
    IEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, 2019, 44 (1), pp.54-71.
  14. A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV
    Eduardo Campos Mercado, Jesus Monoroy, Hugo Abundis, Ahmed Chemori, Vincent Creuze, Jorge Torres
    International Journal of Naval Architecture and Ocean Engineering, Elsevier, 2019, 11 (1), pp.211-224.
  15. On the design of a preshaped curved beam bistable mechanism
    Hussein Hussein, Patrice Le Moal, Rafic Younes, Gilles Bourbon, Yassine Haddab, Philippe Lutz
    Mechanism and Machine Theory, Elsevier, 2019, 131, pp.204-217.
  16. Skeleton arc additive manufacturing with closed loop control
    Simon Radel, Adama Diourte, Fabien Soulié, Olivier Company, Cyril Bordreuil
    Additive Manufacturing, Elsevier, 2019, 26, pp.106-116.
  17. CAM for On-line Control for Wire Arc Additive Manufacturing
    Simon Radel, Cyril Bordreuil, Fabien Soulié, Olivier Company
    Computer-Aided Design and Applications, CAD Solutions LLC (imprimé) and Taylor & Francis Online (en ligne), 2019, 16 (3), pp.558-569.

2018

  1. Reconstructing a 3D heart surface with stereo-endoscope by learning eigen-shapes
    Bo Yang, Chao Liu, Wenfeng Zheng, Shan Liu, Keli Huang
    Biomedical optics express, Optical Society of America - OSA Publishing, 2018, 9 (12), pp.6222-6236.
  2. Virtual Submerged Floating Operational System for Robotic Manipulation
    Qin Zhang, Jialei Zhang, Ahmed Chemori, Xianbo Xiang
    Complexity, Wiley, 2018, 2018, pp.1-18.
  3. Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering
    Guillaume Lapouge, Jocelyne Troccaz, Philippe Poignet
    Control Engineering Practice, Elsevier, 2018, 80, pp.116-124.
  4. Toward a standard ontology of surgical process models
    Bernard Gibaud, Germain Forestier, Carolin Feldmann, Giancarlo Ferrigno, Paulo Gonçalves, Tamás Haidegger, Chantal Julliard, Darko Katić, Hannes Kenngott, Lena Maier-Hein, Keno März, Elena de Momi, Dénes Ákos Nagy, Hirenkumar Nakawala, Juliane Neumann, Thomas Neumuth, Javier Rojas Balderrama, Stefanie Speidel, Martin Wagner, Pierre Jannin
    International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2018, 13 (9), pp.1397-1408.
  5. Synthesis Method for the Design of Variable Stiffness Components Using Prestressed Singular Elastic Systems
    Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
    Mechanism and Machine Theory, Elsevier, 2018, 121, pp.598-612.
  6. Design and fabrication of novel discrete actuators for microrobotic tasks
    Hussein Hussein, Ismaïl Bouhadda, Abdenbi Mohand-Ousaid, Gilles Bourbon, Patrice Le Moal, Yassine Haddab, Philippe Lutz
    Sensors and Actuators A: Physical , Elsevier, 2018, 271, pp.373-382.
  7. Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments
    Nahla Khraief Haddad, Ahmed Chemori, Safya Belghith
    International Journal of Control, Taylor & Francis, 2018, 91 (12), pp.2657-2672.
  8. A new RISE-based adaptive control of PKMs: design, stability analysis and experiments
    Moussab Bennehar, Ahmed Chemori, Mohamed Bouri, Laurent Frédéric Jenni, François Pierrot
    International Journal of Control, Taylor & Francis, 2018, 91 (3), pp.593-607.
  9. Fractional order model reference adaptive control for SCARA robot trajectory tracking
    Yassine Bensafia, Samir Ladaci, Khatir Khettab, Ahmed Chemori
    International Journal of Industrial and Systems Engineering, Inderscience, 2018, 30 (2), pp.138-156.
  10. Evaluation of Contactless Human-Machine Interface for Robotic Surgical Training
    Fabien Despinoy, Nabil Zemiti, Germain Forestier, Luis Alonso Sanchez Secades, Pierre Jannin, Philippe Poignet
    International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2018, 13 (1), pp.13-24.
  11. Automatic robotic steering of flexible needles from 3D ultrasound images in phantoms and ex vivo biological tissue
    Paul Mignon, Philippe Poignet, Jocelyne Troccaz
    Annals of Biomedical Engineering, Springer Verlag, 2018, 46 (9), pp.1385-1396.

2017

  1. Geometric and mechanical evaluation of 3D-printing materials for skull base anatomical education and endoscopic surgery simulation – A first step to create reliable customized simulators.
    Valentin Favier, Nabil Zemiti, Oscar Caravaca Mora, Gérard Subsol, Guillaume Captier, Renaud Lebrun, Louis Crampette, Michel Mondain, Benjamin Gilles
    PLoS ONE, Public Library of Science, 2017, 12 (12), pp.e0189486.
  2. On decentralized adaptive full-order sliding mode control of multiple UAVs
    Xianbo Xiang, Chao Liu, Hongsheng Su, Qin Zhang
    ISA Transactions, Elsevier, 2017, 71 (Part 2), pp.196-205.
  3. Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems
    Jawhar Ghommam, Ahmed Chemori
    Nonlinear Dynamics, Springer Verlag, 2017, 90 (1), pp.301-315.
  4. A triangular radial cubic spline deformation model for efficient 3D beating heart tracking
    Bo Yang, Chao Liu, Keli Huang, Wenfeng Zheng
    Signal, Image and Video Processing, Springer Verlag, 2017, 11 (7), pp.1329-1336.
  5. Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments
    Eduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, Jorge Antonio Torres Muñoz, Rogelio Lozano
    Mechatronics, Elsevier, 2017, 45, pp.49-59.
  6. From Hopf-bifurcation to limit cycles control in underactuated mechanical systems
    Nahla Khraief Haddad, Safya Belghith, Hassène Gritli, Ahmed Chemori
    International journal of bifurcation and chaos in applied sciences and engineering , World Scientific Publishing, 2017, 27 (07). <10.1142/S0218127417501048>
  7. Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC
    Hassène Gritli, Nahla Khraief, Ahmed Chemori, Safya Belghith
    Nonlinear Dynamics, Springer Verlag, 2017, 89 (3), pp.2195-2226.
  8. Motion prediction via online instantaneous frequency estimation for vision-based beating heart tracking
    Bo Yang, Chao Liu, Wenfeng Zheng, Shan Liu
    Information Fusion, Elsevier, 2017, 35, pp.58-67.
  9. Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method
    Huan Yuan, Eric Courteille, Marc Gouttefarde, Pierre-Elie Hervé
    Journal of Sound and Vibration, Elsevier, 2017, 394, pp.527-544.
  10. From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism
    Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet, Pierre Renaud
    Mechanism and Machine Theory, Elsevier, 2017, 107, pp.1-12.
  11. Control of cable-driven manipulators in the presence of friction
    Salih Abdelaziz, Laurent Barbé, Pierre Renaud, Michel de Mathelin, Bernard Bayle
    Mechanism and Machine Theory, Elsevier, 2017, 107, pp.139-147.
  12. Mechanical Stop Mechanism For Overcoming MEMS Fabrication Tolerances
    Hussein Hussein, Gilles Bourbon, Patrice Le Moal, Yassine Haddab, Philippe Lutz
    Journal of Micromechanics and Microengineering, IOP Publishing, 2017, 27 (1), pp.017001.

2016

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

2015

  1. A Versatile Tension Distribution Algorithm for $n$-DOF Parallel Robots Driven by $n+2$ Cables
    Marc Gouttefarde, Johann Lamaury, Christopher Reichert, Tobias Bruckmann
    IEEE Transactions on Robotics, IEEE, 2015, 31 (6), pp.1444-1457.
  2. Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment
    Guilherme Sartori Natal, Ahmed Chemori, François Pierrot
    IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2015, 23 (4), pp.1520-1535.
  3. Dynamic Parameter Identification of Over-actuated Parallel Robots
    Sébastien Briot, Sébastien Krut, Maxime Gautier
    Journal of Dynamic Systems, Measurement, and Control, American Society of Mechanical Engineers, 2015, 137 (11).
  4. Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot
    Marc Gouttefarde, Jean-François Collard, Nicolas Riehl, Cédric Baradat
    IEEE Transactions on Robotics, IEEE, 2015, 31 (2), pp.501-510.
  5. &#8466;1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time Experiments
    Divine Maalouf, Ahmed Chemori, Vincent Creuze
    Ocean Engineering, Elsevier, 2015, 98, pp.66-77.
  6. Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper
    Divine Maalouf, Vincent Creuze, Ahmed Chemori, Ivan Torres Tamanaja, Eduardo Campos Mercado, Jorge Antonio Torres Muñoz, Rogelio Lozano, Olivier Tempier
    International Journal of Advanced Robotic Systems, InTech, 2015, 12 (2), pp.1-15.
  7. Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle
    Divine Maalouf, Vincent Creuze, Ahmed Chemori, Olivier Tempier
    International Journal of Robotics and Automation, ACTA Press, 2015, 30 (1), pp.4161-4196.
  8. Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments
    Moussab Bennehar, Ahmed Chemori, François Pierrot, Vincent Creuze
    Frontiers in Robotics and AI, Frontiers Media S.A., 2015, 2, pp.32.

2014

  1. A design framework for safe surgical robots: example of the ARAKNES robot controller
    Luis Alonso Sanchez Secades, Philippe Poignet, Etienne Dombre, Arianna Menciassi, Paolo Dario
    Robotics and Autonomous Systems, Elsevier, 2014, 62 (9), pp.1342-1352.
  2. 3D soft-tissue tracking using spatial-color joint probability distribution and thin-plate spline model
    Bo Yang, Wai-Keung Wong, Chao Liu, Philippe Poignet
    Pattern Recognition, Elsevier, 2014, 47 (9), pp.2962-2973.
  3. Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis Methods
    Salih Abdelaziz, Laure Esteveny, Laurent Barbé, Pierre Renaud, Bernard Bayle, Michel de Mathelin
    Journal of Mechanical Design, American Society of Mechanical Engineers, 2014, 136 (9), pp.091006.
  4. Linear and nonlinear MPC for track following in the design of HDD servo systems
    Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel
    International Journal of Systems, Control and Communications, Inderscience Publishers, 2014, 6 (1), pp.20-47.
  5. Robust 3D Motion Tracking for Vision-Based Control in Robotic Heart Surgery
    Bo Yang, Chao Liu
    Asian Journal of Control, Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) 2014, 16 (3), pp.632-645.
  6. On the Use of Fixed-Intensity Functional Electrical Stimulation for Attenuating Essential Tremor
    Antonio Padilha Lanari Bo, Christine Azevedo Coste, Christian Geny, Philippe Poignet, Charles Fattal
    Artificial Organs, Wiley, 2014, 38 (11), pp.984-991.
  7. Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation
    Pedro Moreira, Nabil Zemiti, Chao Liu, Philippe Poignet
    Computer Methods and Programs in Biomedicine, Elsevier, 2014, 116 (2), pp.52-67.
  8. Identification and Vibration Attenuation for the Parallel Robot Par2
    Luiz Ricardo Douat, Isabelle Queinnec, Germain Garcia, Micaël Michelin, François Pierrot, Sophie Tarbouriech
    IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2014, 22 (1), pp.190-200.

Communications internationales

2021

  1. Simultaneous haptic guidance and learning of task parameters during robotic teleoperation
    Thibault Poignonec, Florent Nageotte, Nabil Zemiti, Bernard Bayle
    International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi’an, China. <https://www.ieee-icra.org/>

2020

  1. Effectiveness Evaluation of Arm Usage for Human Quiet Standing Balance Recovery through Nonlinear Model Predictive Control
    Keli Shen, Ahmed Chemori, Mitsuhiro Hayashibe
    International Conference on Control and Robots (ICCR 2020), Dec 2020, Tokyo, Japan. <http://www.iccr.net/>
  2. Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism
    Giorgio Mackenzie Cruz-Martinez, Juan Carlos Avila-Vilchis, Adriana Vilchis González, Salih Abdelaziz, Philippe Poignet
    International Symposium on Advances in Robot Kinematics (ARK 2020), Dec 2020, Ljubljana, Slovenia. pp.15-24.
  3. Continuous Tension Validation for Cable-Driven Parallel Robots
    Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux
    International Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas, United States. <10.1109/IROS45743.2020.9341202>
  4. Disturbance Observer-Based Super-Twisting Control for the Inertia Wheel Inverted Pendulum
    Afef Hfaiedh, Ahmed Chemori, Afef Abdelkrim
    17th International Multi-Conference on Systems, Signals and Devices (SSD 2020), Jul 2020, Sfax, Tunisia. <https://ssd-conf.org/ssd-20/>
  5. A Fuzzy Sliding Mode Controller for Reducing Torques Applied to a Rehabilitation Robot
    Boutheina Maalej, Ahmed Chemori, Hanene Medhaffar, Nabil Derbel
    17th International Multi-Conference on Systems, Signals and Devices (SSD 2020), Jul 2020, Sfax, Tunisia. <https://ssd-conf.org/ssd-20/>
  6. Stabilization of the Inertia Wheel Inverted Pendulum by Advanced IDA-PBC Based Controllers: Comparative Study and Real-Time Experiments
    Afef Hfaiedh, Ahmed Chemori, Afef Abdelkrim
    17th International Multi-Conference on Systems, Signals and Devices (SSD 2020), Jul 2020, Sfax, Tunisia. <https://ssd-conf.org/ssd-20/>
  7. RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments
    Ghina Hassan, Ahmed Chemori, Lotfi Chikh, Pierre-Elie Hervé, Maher El Rafei, Clovis Francis, François Pierrot
    1st Virtual IFAC World Congress (IFAC-V), Jul 2020, Berlin, Germany. <https://www.ifac2020.org/>
  8. Model Predictive Controller for a Planar Tensegrity Mechanism with decoupled position and stiffness control
    Jurado Realpe, Salih Abdelaziz, Philippe Poignet
    17th International Symposium on Advances in Robot Kinematics (ARK 2020), Jun 2020, Ljubljana, Slovenia. pp.349-358.
  9. A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics
    João Cavalcanti Santos, Marc Gouttefarde
    17th International Symposium Advances in Robot Kinematics (ARK 2020), Jun 2020, Ljubljana, Slovenia. pp.199-208.
  10. Thermal deflection decoupled 6-DOF pose measurement of hexapods
    Vinayak Jagannathrao Kalas, Alain Vissiere, Olivier Company, Sébastien Krut, Pierre Noiré, Thierry Roux, François Pierrot
    20th International Conference of the European Society for Precision Engineering and Nanotechnology, European Society for Precision Engineering and Nanotechnology (euspen), Jun 2020, Geneva, Switzerland.
  11. Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation
    Jurado Realpe, Guillaume Aiche, Salih Abdelaziz, Philippe Poignet
    IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris (virtual), France. pp.3882-3888.
  12. Redundancy Resolution integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments
    João Santos, Ahmed Chemori, Marc Gouttefarde
    International Conference on Robotics and Automation (ICRA), May 2020, Virtual, France. <https://icra2020.org/>
  13. Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems
    Christian Saetre, Anton Shiriaev, Stepan Pchelkin, Ahmed Chemori
    European Control Conference (ECC), May 2020, Saint Petersburg, Russia. <https://ecc20.eu/>
  14. Efficient target tracking for 3D ultrasound-guided needle steering
    Guillaume Lapouge, Gaelle Fiard, Philippe Poignet, Jocelyne Troccaz
    SPIE Medical Imaging, Feb 2020, Houston, United States. pp.#113150I.

2019

  1. Networked cooperation-based distributed model predictive control using Laguerre functions for large-scale systems
    Kamel Menighed, Ahmed Chemori, Boumedyen Boussaid, Joseph Juien Yamé
    4th International Conference On Electrical Engineering and Control Applications, ICEECA 2019, Dec 2019, Constantine, Algeria. <https://iceeca.org>
  2. A New Fast NMPC Scheme for Parallel Kinematic Manipulators: Design and Real-Time Experiments
    Rihab Kouki, Ahmed Chemori, Faouzi Bouani
    IEEE International Conference on Signal, Control and Communication (SCC), Dec 2019, Hammamet, Tunisia. <https://scc.ieee.tn/>
  3. Towards an Effective Robotic Device for Gait Rehabilitation of Children With Cerebral Palsy
    Boutheina Maalej, Ahmed Chemori, Nabil Derbel
    International Conference on Signal, Control and Communication (SCC), Dec 2019, Hammamet, Tunisia. <https://scc.ieee.tn/>
  4. Hand Tracking Accuracy Enhancement by Data Fusion Using Leap Motion and MYO
    Jingxiang Chen, Chao Liu, Rongxin Cui, Chenguang Yang
    International Conference on Unmanned Systems and Artificial Intelligence (ICUSAI), Nov 2019, Xi'an, Shaanxi, China. <http://icusai.org/>
  5. A New Time-Varying Feedback RISE Control of PKMs: Theory and Application
    Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher Rafei, Clovis Francis, François Pierrot
    International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, China. pp.6775-6780.
  6. Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot
    Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux
    International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ, Nov 2019, Macau, China. <https://www.iros2019.org/>
  7. Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM Model
    Yuhang Ye, Chao Liu, Nabil Zemiti, Chenguang Yang
    RO-MAN: Robot & Human Interactive Communication, Oct 2019, New Delhi, India. <https://ro-man2019.org/>
  8. A Framework of Human impedance Estimation for Human-Robot Interaction
    Jing Luo, Chao Liu, Yanan Li, Chenguang Yang
    ICAC: International Conference on Automation and Computing, Sep 2019, Lancaster, United Kingdom. <http://www.cacsuk.co.uk/index.php/conferences/icac>
  9. Holdable Haptic Device for 4-DOF Motion Guidance
    Julie Walker, Nabil Zemiti, Philippe Poignet, Allison Okamura
    WHC: World Haptics Conference, Jul 2019, Tokyo, Japan. <https://www.worldhaptics2019.org>
  10. Wrist Motion Recognition by Using Electromyographic Signals
    Jing Luo, Chenguang Yang, Chao Liu, Yuxia Yuan, Zhijun Li
    ICARM: International Conference on Advanced Robotics and Mechatronics, Jul 2019, Toyonaka, Japan. pp.130-135.
  11. Robot Teleoperation System Based on Mixed Reality
    Congyuan Liang, Chao Liu, Xiaofeng Liu, Long Cheng, Chenguang Yang
    ICARM: International Conference on Advanced Robotics and Mechatronics, Jul 2019, Toyonaka, Japan. pp.384-389.
  12. Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots
    Nicolas Tremblay, Kaveh Kamali, Philippe Cardou, Christian Desrosiers, Marc Gouttefarde, Martin J.-D. Otis
    CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.345-356.
  13. Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots
    João Santos, Ahmed Chemori, Marc Gouttefarde
    CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.221-232.
  14. A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification
    Maximilian Lesellier, Marc Gouttefarde
    CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.173-183.
  15. Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots
    Lionel Birglen, Marc Gouttefarde
    CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.61-71.
  16. 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 Poignet
    HSMR: Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom. <https://www.ukras.org/hamlyn/>
  17. Needle Segmentation in 3D Ultrasound Volumes Based on Machine Learning for Needle Steering
    Guillaume Lapouge, Hatem Younes, Philippe Poignet, Sandrine Voros, Jocelyne Troccaz
    Hamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom. <https://www.ukras.org/hamlyn/>
  18. Towards a novel man-machine interface to speed up training on robot-assisted surgery
    Gustavo Gil, Julie Walker, Nabil Zemiti, Allison Okamura, Philippe Poignet
    SURGETICA, Jun 2019, Rennes, France. <http://www.surgetica2019.eu/>
  19. Intraoperative Ultrasound-based Augmented Reality Guidance
    Jun Shen, Nabil Zemiti, Christophe Taoum, Jean-Louis Dillenseger, Philippe Rouanet, Philippe Poignet
    SURGETICA, Jun 2019, Rennes, France. <http://www.surgetica2019.eu/>
  20. An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel Robot
    Jonatan Martín Escorcia-Hernández, Hipolito Aguilar-Sierra, Omar Aguilar-Mejía, Ahmed Chemori, José Arroyo-Núñez
    6th International Conference on Control, Decision and Information Technologies (CoDIT), Apr 2019, Paris, France. pp.361-366.
  21. Intelligent Tuning of Augmented $L_{1}$ Adaptive Control for Cerebral Palsy Kids Rehabilitation
    Boutheina Maalej, Ahmed Chemori, Nabil Derbel
    16th IEEE International Multi-Conference on Systems, Signals and Devices (SSD 2019), Mar 2019, Istanbul, Turkey. pp.231-237.

2018

  1. MYO Armband and Leap Motion data fusion with OpenSim based Virtual Reality Environment
    Congyuan Liang, Chenguang Yang, Chao Liu, Ying Feng
    ICCSIP: International Conference on Cognitive Systems and Information Processing, Nov 2018, Beijing, China. <https://www.aconf.org/conf_158842>
  2. RISE controller for class I of underactuated mechanical systems: Design and Real-Time Experiments
    Afef Hfaiedh, Ahmed Chemori, Afef Abdelkrim
    ICEE: International Conference on Electromechanical Engineering, Nov 2018, Skikda, Algeria. <http://conferences.univ-skikda.dz/icee2018/>
  3. Geometric Optimization of a Large Scale CDPR Operating on a Building Facade
    Hussein Hussein, João Cavalcanti Santos, Marc Gouttefarde
    IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5117-5124.
  4. Actuator and Friction Dynamics Formulation in Control of PKMs: From Design to Real-Time Experiments
    Hussein Saied, Ahmed Chemori, Maher Rafei, Clovis Francis, François Pierrot
    IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5634-5639.
  5. An active stabilizer for cable-driven parallel robot vibration damping
    Maximilian Lesellier, Loic Cuvillon, Jacques Gangloff, Marc Gouttefarde
    IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5063-5070.
  6. Repeatability and Reproducibility Analysis of a Multistable Module Devoted to Digital Microrobotics
    Ismail Bouhadda, Abdenbi Mohand-Ousaid, Gilles Bourbon, Patrice Le Moal, Philippe Lutz, Hussein Hussein, Yassine Haddab
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.4889-4894.
  7. Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication Delay
    Chao Liu, Jing Guo, Philippe Poignet
    12th IFAC Symposium on Robot Control (SYROCO), Aug 2018, Budapest, Hungary. pp.493-499.
  8. A New Efficient Stiffness Evaluation Method to Improve Accuracy of Hexapods
    Vinayak Jagannathrao Kalas, Alain Vissiere, Thierry Roux, Olivier Company, Sébastien Krut, François Pierrot
    International Design Engineering Technical Conferences and Computers and Information in Engineering (IDETC/CIE 2018), Aug 2018, Quebec City, Canada. pp.V05AT07A045.
  9. Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked Marker
    Jun Shen, Nabil Zemiti, Jean-Louis Dillenseger, Philippe Poignet
    EMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, Hawaii, United States. pp.878-882.
  10. Design of a Microbiota Sampling Capsule using 3D-Printed Bistable Mechanism
    Mouna Ben Salem, Guillaume Aiche, Lennart Rubbert, Pierre Renaud, Yassine Haddab
    EMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, United States. pp.4868-4871.
  11. Mechanical Bistable Structures for Microrobotics and Mesorobotics from Microfabrication to Additive Manufacturing
    Yassine Haddab, Guillaume Aiche, Hussein Hussein, Mouna Ben Salem, Philippe Lutz, Lennart Rubbert, Pierre Renaud
    MARSS: Manipulation, Automation and Robotics at Small Scales, Jul 2018, Nagoya, Japan. pp.1-6.
  12. Static Modeling of Sagging Cables With Flexural Rigidity and Shear Forces
    Hussein Hussein, Marc Gouttefarde, François Pierrot
    16th International Symposium on Advances in Robot Kinematics (ARK 2018), Jul 2018, Bologna, Italy. pp.310-318.
  13. Intraoperative Ultrasonography-based Augmented Reality For Application In Image Guided Robotic Surgery
    Jun Shen, Nabil Zemiti, Agnès Viquesnel, Oscar Caravaca Mora, Auguste Courtin, Renaud Garrel, Jean-Louis Dillenseger, Philippe Poignet
    32nd International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS 2018), Jun 2018, Berlin, Germany. pp.S45-S46.
  14. Cable-Driven Parallel Robots: Principle and Applications of an Advanced Crane System
    Jean-Baptiste Izard, Marc Gouttefarde, Hussein Hussein, Christoph Martin, Werner Kraus, Andreas Pott, Mariola Rodriguez
    ICAE: International Congress on Architectural Envelopes, Jun 2018, San Sebastian-Donostia, Spain. <https://icae2018.eu/?lang=en>
  15. Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm
    François Leborne, Vincent Creuze, Ahmed Chemori, Lorenzo Brignone
    ICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.1-9.

2017

  1. Towards unified dataset for Modeling and Monitoring of Computer Assisted Medical Interventions
    Fabien Despinoy, Sandrine Voros, Nabil Zemiti, Nicolas Padoy, Pierre Jannin
    SURGETICA, Nov 2017, Strasbourg, France.
  2. Can Multi-Sensory Feedbacks Improve Laparoscopic Surgery Training?
    Ninon Candalh-Touta, Philippe Poignet, Jérome Szewczyk
    SURGETICA, Nov 2017, Strasbourg, France.
  3. Augmented Reality Visualization Based On 3D Ultrasonography
    Jun Shen, Nabil Zemiti, Oscar Caravaca Mora, Simon Antoine, Jean-Louis Dillenseger, Philippe Poignet
    SURGETICA, Nov 2017, Strasbourg, France.
  4. Battery-free force sensor for instrumented knee implant
    Shaban Almouahed, Chafiaa Hamitouche-Djabou, Philippe Poignet, Eric Stindel
    HI-POCT: Healthcare Innovations and Point-of-Care Technologies, Nov 2017, Bethesda, United States. <10.1109/HIC.2017.8227570>
  5. From Non-Model-Based to Model-Based Control of PKMs: A Comparative Study
    Hussein Saied, Ahmed Chemori, Maher El Rafei, Clovis Francis, François Pierrot
    ICAMMRMS: International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, Oct 2017, Beyrouth, Lebanon. <http://www.ulfg.ul.edu.lb/conferences/2/ICAMMRMS-2017>
  6. Control of Complex Robotic Systems: Challenges, Design and Experiments
    Ahmed Chemori
    MMAR: Methods and Models in Automation and Robotics, Aug 2017, Miedzyzdroje, Poland. pp.622-631.
  7. Twist Feasibility Analysis of Cable-Driven Parallel Robots
    Saman Lessanibahri, Marc Gouttefarde, Stéphane Caro, Philippe Cardou
    3rd International Conference on Cable-Driven Parallel Robots, Aug 2017, Québec, Canada. pp.128-139.
  8. PCA-based 3D Pose Modeling for Beating Heart Tracking
    Bo Yang, Chao Liu, Wenfeng Zheng
    13th International Conference on Natural Computation, Fuzzy Systems and Knowledge Discovery (ICNC-FSKD 2017), Jul 2017, Guilin, China. pp.586-590.
  9. A Novel Adaptive Terminal Sliding Mode Control for Parallel Manipulators: Design and Real-Time Experiments
    Moussab Bennehar, Gamal El-Ghazaly, Ahmed Chemori, François Pierrot
    ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6086-6092.
  10. Estimating inertial parameters of suspended cable-driven parallel robots — Use case on CoGiRo
    Philipp Tempel, Pierre-Elie Hervé, Olivier Tempier, Marc Gouttefarde, Andreas Pott
    ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6093-6098.

2016

  1. Optimization of concentric-tube robot design for deep anterior brain tumor surgery
    Mohamed Nassim Boushaki, Chao Liu, Benoît Herman, Vincent Trévillot, Mohamed Akkari, Philippe Poignet
    ICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. <10.1109/ICARCV.2016.7838563>
  2. Beveled-Tip Needle-Steering Using 3D Ultrasound, Mechanical-Based Kalman Filter and Curvilinear ROI Prediction
    Paul Mignon, Philippe Poignet, Jocelyne Troccaz
    ICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. <10.1109/ICARCV.2016.7838840>
  3. Motion control architecture of a 4-fin U-CAT AUV using DOF prioritization
    Taavi Salumäe, Ahmed Chemori, Maarja Kruusmaa
    IROS: Intelligent RObots and Systems, Oct 2016, Daejeon, South Korea. pp.1321-1327.
  4. Determination of a Rigid Body Orientation By Means of Indirect Measurements
    Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot
    EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.61-69.
  5. Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator
    Marc Gouttefarde
    EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.363-371.
  6. Towards the control of tensegrity mechanisms for variable stiffness applications: a case study
    Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet, Pierre Renaud
    EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.163-171.
  7. Maximum wrench feasible payload in cable-driven parallel robots equipped with a serial robot
    Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze, François Pierrot
    AIM: Advanced Intelligent Mechatronics, Jul 2016, Banff, Canada. pp.1572-1578.
  8. Innovative Approach to Use Air Bearings in Cubesat Ground Tests
    Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau
    CubeSat Workshop, ESA, CNES, May 2016, La Valette, Malta. <http://esaconferencebureau.com/docs/default-source/16a02_docs/cubesat-2016-programme2362728B8535.pdf?sfvrsn=2>
  9. Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments
    Hala Rifaï, Mohamed Ben Abdessalem, Ahmed Chemori, Samer Mohammed, Yacine Amirat
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.5708-5714.
  10. Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditions
    Ahmed Chemori, Keijo Kuusmik, Taavi Salumae, Maarja Kruusmaa
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.4750-4755.
  11. Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design
    Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.661-667.

2015

  1. Robotic Test Bench for CubeSat Ground Testing: Concept and Satellite Dynamic Parameter Identification
    Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau
    IROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. pp.5447-5453.
  2. Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems: A Study on Force Capabilities
    Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze
    IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.1672-1678.
  3. Control of a Perturbed Under-Actuated Mechanical System
    Chadia Zayane-Aissa, Taous-Meriem Laleg-Kirati, Ahmed Chemori
    CCA: Conference on Control Applications, Sep 2015, Sydney, Australia. pp.249-299.
  4. Motion Prediction Using Dual Kalman Filter for Robust Beating Heart Tracking
    Bo Yang, Chao Liu, Philippe Poignet, Zheng Wenfeng, Shan Liu
    EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4875-4878.
  5. Enhanced Position-Force Tracking of Time-Delayed Teleoperation for Robotic-Assisted Surgery
    Jing Guo, Chao Liu, Philippe Poignet
    EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4894-4897.
  6. Using Rotation for Steerable Needle Detection in 3D Color-Doppler Ultrasound Images
    Paul Mignon, Philippe Poignet, Jocelyne Troccaz
    EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milano, Italy. pp.1544-1547.
  7. Dynamics effects on natural frequencies in modal analysis of PKMs
    Julien Prades, Franck Jourdan, Olivier Company, Sébastien Krut, François Pierrot
    MMAR: Methods and Models in Automation and Robotics, Aug 2015, Miedzyzdroje, Poland. pp.300-305.
  8. Dimensioning of Cable-Driven Parallel Robot Actuators, Gearboxes and Winches according to the Twist Feasible Workspace
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde
    CASE: Conference on Automation Science and Engineering, IEEE, Aug 2015, Göteborg, Sweden. pp.99-105.
  9. Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms
    Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
    IDETC/CIE: International Design Engineering Technical Conferences and Computers and Information in Engineering, Aug 2015, Boston, MA, United States. pp.V05AT08A019.
  10. Needle Deflection Prediction Using Adaptive Slope Model
    Ederson Antônio Gomes Dorileô, Nabil Zemiti, Philippe Poignet
    ICAR: International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65.
  11. Stable and Enhanced Position-Force Tracking for Bilateral Teleoperation with Time Delay
    Jing Guo, Chao Liu, Philippe Poignet
    ECC: European Control Conference, Jul 2015, Linz, Austria. pp.1980-1985.
  12. A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin
    ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1613-1620.
  13. Simplified adaptive path planning for percutaneous needle insertions
    Ederson Antônio Gomes Dorileô, Abdulrahman Albakri, Nabil Zemiti, Philippe Poignet
    ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1782-1788.
  14. L1 Adaptive Control of Parallel Kinematic Manipulators: Design and Real-Time Experiments
    Moussab Bennehar, Ahmed Chemori, François Pierrot
    ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1587-1592.

2014

  1. Environment Modeling with Physiological Motion Disturbance for Surgical Teleoperation
    Abdulrahman Albakri, Chao Liu, Philippe Poignet
    ICCARV: International Conference on Control, Automation, Robotics and Vision, Dec 2014, Singapore, Singapore. pp.1298-1303.
  2. A novel contactless human-machine interface for laparoscopic telesurgery
    Fabien Despinoy, Luis Alonso Sanchez Secades, Nabil Zemiti, Pierre Jannin, Philippe Poignet
    SURGETICA, Dec 2014, Chambéry, France.
  3. A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    Humanoids, Nov 2014, Madrid, Spain. pp.693-698.
  4. External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments
    Nahla Khraief Haddad, Ahmed Chemori, Safya Belghith
    CCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.1747-1752.
  5. A prediction-based optimal gain selection in RISE feedback control for hard disk drive
    Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel
    CCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.2114-2119.
  6. Study of Reconfigurable Suspended Cable-Driven Parallel Robots for Airplane Maintenance
    Dinh Quan Nguyen, Marc Gouttefarde
    IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.1682-1689.
  7. A New Extension of Desired Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMs
    Moussab Bennehar, Ahmed Chemori, François Pierrot
    IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.1670-1675.
  8. Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precision
    Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.1716-1723.
  9. A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel Manipulators
    Moussab Bennehar, Ahmed Chemori, François Pierrot
    IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.2389-2394.
  10. On the performance evaluation and analysis of general robots with mixed dofs
    Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    IROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.490-497.
  11. Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic Platform
    Adrian Graña Sanchez, Luis Alonso Sanchez Secades, Nabil Zemiti, Philippe Poignet
    IROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.1216-1221.
  12. A Miniaturised Actuation System Embedded in an Instrumented Knee Implant for Postoperative Ligament Imbalance Correction
    Andrea Collo, Philippe Poignet, Chafiaa Hamitouche-Djabou, Shaban Almouahed, Eric Stindel
    EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, Il, United States. pp.6211-6214.
  13. Haptic Teleoperation and Concentric Tube Robot - Some New Control Developments for New Surgical Robot Applications
    Chao Liu, Philippe Poignet
    EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States.
  14. Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic System
    Jing Guo, Chao Liu, Philippe Poignet
    EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. pp.361-365.
  15. Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo
    Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze
    CableCon: Cable-Driven Parallel Robots, Tobias Bruckmann; Andreas Pott, Aug 2014, Duisburg, Germany. pp.179-200.
  16. On the Improvement of Cable Collision Detection Algorithms
    Dinh Quan Nguyen, Marc Gouttefarde
    CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.29-40.
  17. A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin
    CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.275-291.
  18. Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)
    Micaël Michelin, Cédric Baradat, Dinh Quan Nguyen, Marc Gouttefarde
    CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.71-83.
  19. An active tibial component for potoperative fine tuning adjustment of knee ligament imbalance
    Andrea Collo, Philippe Poignet, Chafiaa Hamitouche-Djabou, Shaban Almouahed, Eric Stindel
    BioRob: Biomedical Robotics and Biomechatronics, Aug 2014, Sao Paulo, Brazil. pp.126-131.
  20. On the Analysis of Large-Dimension Reconfigurable Suspended Cable-Driven Parallel Robots
    Dinh Quan Nguyen, Marc Gouttefarde, Olivier Company, François Pierrot
    ICRA: International Conference on Robotics and Automation, Jun 2014, Hong-Kong, China. pp.5728-5735.
  21. Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator
    Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.545-553.
  22. Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys
    Marc Gouttefarde, Dinh Quan Nguyen, Cédric Baradat
    ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.213-221.
  23. Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization
    Dinh Quan Nguyen, Marc Gouttefarde
    ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.181-191.
  24. Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms
    Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
    ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.161-169.
  25. Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic Telesurgery
    Fabien Despinoy, Luis Alonso Sanchez Secades, Nabil Zemiti, Pierre Jannin, Philippe Poignet
    IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.21-30.
  26. Modelling and Control of an ERF-based Needle Insertion Training Platform
    Adrian Graña Sanchez, Luis Alonso Sanchez Secades, Nabil Zemiti, Philippe Poignet
    IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.31-40.
  27. A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures Planning
    Ederson Antônio Gomes Dorileô, Nikolai Hungr, Nabil Zemiti, Ivan Bricault, Céline Fouard, Philippe Poignet
    CARS: Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan.
  28. Contribution Of Different Drawing Tasks In The Assessment Of Essential Tremor
    Christian Geny, Christine Azevedo Coste, Audrey Gabelle-Deloustal, Charles Fattal, Philippe Poignet, Antonio Padilha Lanari Bo
    MDS: Movement Disorder Society, Jun 2014, Stockholm, Sweden. pp.1133.
  29. A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.5712-5719.
  30. Optimal Design of Cable-Driven Parallel Robots for Large Industrial Structures
    Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin
    ICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. pp.5744-5749.
  31. Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate Jacobian
    Mohamed Nassim Boushaki, Chao Liu, Philippe Poignet
    ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.5877-5882.
  32. Test Bench For Nanosatellite Attitude Determination And Control System Ground Tests
    Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau
    4S: Small Satellites Systems and Services Symposium, May 2014, Porto Petro, Spain. <http://congrexprojects.com/2014-events/4S2014/home>
  33. Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators
    Moussab Bennehar, Ahmed Chemori, Sébastien Krut, François Pierrot
    SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. <10.1109/SSD.2014.6808879>
  34. RISE Feedback Control for a R/W Head Track Following in Hard Disc Drives
    Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel
    SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. <10.1109/SSD.2014.6808811>
  35. Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. <10.1109/SSD.2014.6808778>

Mots-clés

Conception, Commande, Manipulation, Robotique parallèle, Robotique médicale

Dernière mise à jour le 02/12/2020