Number of documents

67

Marc Gouttefarde - Short CV


Analysis, design, control, and applications of cable-driven parallel robots

In close collaboration with academic and industrial partners, most of the results of my researches are validated on cable-driven parallel robot demonstrators or applications

 


Journal articles11 documents

  • Jeremy Begey, Loic Cuvillon, Maximilian Lesellier, Marc Gouttefarde, Jacques Gangloff. Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches. IEEE Transactions on Robotics, IEEE, 2019, 35 (1), pp.286-293. ⟨10.1109/TRO.2018.2875415⟩. ⟨lirmm-02087410⟩
  • Tej Dallej, Marc Gouttefarde, Nicolas Andreff, Pierre-Elie Hervé, Philippe Martinet. Modeling and Vision-Based Control of Large-Dimension Cable-Driven Parallel Robots Using a Multiple-Camera Setup. Mechatronics, Elsevier, 2019, 61, pp.20-36. ⟨10.1016/j.mechatronics.2019.05.004⟩. ⟨lirmm-02157768⟩
  • Huan Yuan, Eric Courteille, Marc Gouttefarde, Pierre-Elie Hervé. Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method. Journal of Sound and Vibration, Elsevier, 2017, 394, pp.527-544. ⟨10.1016/j.jsv.2017.02.003⟩. ⟨hal-01484736⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin. Discrete reconfiguration planning for Cable-Driven Parallel Robots. Mechanism and Machine Theory, Elsevier, 2016, 100, pp.313-337. ⟨10.1016/j.mechmachtheory.2016.02.014⟩. ⟨hal-01400440⟩
  • Marc Gouttefarde, Jean-François Collard, Nicolas Riehl, Cédric Baradat. Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot. IEEE Transactions on Robotics, IEEE, 2015, 31 (2), pp.501-510. ⟨10.1109/TRO.2015.2400253⟩. ⟨lirmm-01221397⟩
  • Marc Gouttefarde, Johann Lamaury, Christopher Reichert, Tobias Bruckmann. A Versatile Tension Distribution Algorithm for n-DOF Parallel Robots Driven by n+2 Cables. IEEE Transactions on Robotics, IEEE, 2015, 31 (6), pp.1444-1457. ⟨10.1109/TRO.2015.2495005⟩. ⟨lirmm-01304458⟩
  • Marc Gouttefarde, David Daney, Jean-Pierre Merlet. Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots. IEEE Transactions on Robotics, IEEE, 2011, 27 (1), pp.001-013. ⟨10.1109/TRO.2010.2090064⟩. ⟨lirmm-00573491⟩
  • David Corbel, Marc Gouttefarde, Olivier Company, François Pierrot. Actuation Redundancy as a Way to Improve the Acceleration Capabilities of 3T and 3T1R Pick-and-Place Parallel Manipulators. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2010, 2 (4), pp.13. ⟨10.1115/1.4002078⟩. ⟨lirmm-00533875⟩
  • Martin J.-D. Otis, Simon Perreault, Thien-Ly Nguyen-Dang, Patrice Lambert, Marc Gouttefarde, et al.. Determination and Management of Cable Interferences Between Two 6-DOF Foot Platforms in a Cable-Driven Locomotion Interface. IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, Institute of Electrical and Electronics Engineers, 2009, 39 (3), pp.528-544. ⟨lirmm-00387456⟩
  • Marc Gouttefarde, Clément M. Gosselin. Analysis of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms. IEEE Transactions on Robotics, IEEE, 2006, 22 (3), pp.434-445. ⟨lirmm-00199376⟩
  • Marc Gouttefarde, Clément M. Gosselin. Wrench-Closure Workspace of Six-DOF Parallel Mechanisms Driven by 7 Cables. Transactions of the Canadian Society for Mechanical Engineering, Canadian Society for Mechanical Engineering, 2005, 29 (4), pp.541-552. ⟨lirmm-00198800⟩

Conference papers52 documents

  • João Santos, Ahmed Chemori, Marc Gouttefarde. Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots. CableCon/IFToMM, Jun 2019, Krakow, Poland. ⟨lirmm-02155794⟩
  • Hussein Hussein, Marc Gouttefarde, François Pierrot. Static Modeling of Sagging Cables With Flexural Rigidity and Shear Forces. ARK: Advances in Robot Kinematics, Jul 2018, Bologna, Italy. pp.310-318, ⟨10.1007/978-3-319-93188-3_36⟩. ⟨lirmm-01897992⟩
  • Maximilian Lesellier, Loic Cuvillon, Jacques Gangloff, Marc Gouttefarde. An active stabilizer for cable-driven parallel robot vibration damping. IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5063-5070, ⟨10.1109/IROS.2018.8594148⟩. ⟨lirmm-01898803⟩
  • Hussein Hussein, João Cavalcanti Santos, Marc Gouttefarde. Geometric Optimization of a Large Scale CDPR Operating on a Building Facade. IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5117-5124, ⟨10.1109/IROS.2018.8593900⟩. ⟨lirmm-01898802⟩
  • Jean-Baptiste Izard, Marc Gouttefarde, Hussein Hussein, Christoph Martin, Werner Kraus, et al.. Cable-Driven Parallel Robots: Principle and Applications of an Advanced Crane System. ICAE: International Congress on Architectural Envelopes, Jun 2018, San Sebastian-Donostia, Spain. ⟨lirmm-01898808⟩
  • Philipp Tempel, Pierre-Elie Hervé, Olivier Tempier, Marc Gouttefarde, Andreas Pott. Estimating inertial parameters of suspended cable-driven parallel robots — Use case on CoGiRo. ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6093-6098, ⟨10.1109/ICRA.2017.7989723⟩. ⟨lirmm-01830274⟩
  • Saman Lessanibahri, Marc Gouttefarde, Stéphane Caro, Philippe Cardou. Twist Feasibility Analysis of Cable-Driven Parallel Robots. CableCon: Cable-Driven Parallel Robots, Aug 2017, Québec, Canada. pp.128-139, ⟨10.1007/978-3-319-61431-1_12⟩. ⟨hal-01757798⟩
  • Marc Gouttefarde. Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator. EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.363-371, ⟨10.1007/978-3-319-44156-6_37⟩. ⟨lirmm-01830277⟩
  • Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot. Determination of a Rigid Body Orientation By Means of Indirect Measurements. EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.61-69, ⟨10.1007/978-3-319-44156-6_7⟩. ⟨lirmm-01830279⟩
  • Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau. Innovative Approach to Use Air Bearings in Cubesat Ground Tests. CubeSat Workshop, ESA, CNES, May 2016, La Valette, Malta. ⟨hal-01348039⟩
  • Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze, François Pierrot. Maximum wrench feasible payload in cable-driven parallel robots equipped with a serial robot. AIM: Advanced Intelligent Mechatronics, Jul 2016, Banff, Canada. pp.1572-1578, ⟨10.1109/AIM.2016.7576994⟩. ⟨lirmm-01830282⟩
  • Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau. Robotic Test Bench for CubeSat Ground Testing: Concept and Satellite Dynamic Parameter Identification. IROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. pp.5447-5453, ⟨10.1109/IROS.2015.7354148⟩. ⟨lirmm-01310817⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin. A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots. ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1613-1620, ⟨10.1109/ICRA.2015.7139404⟩. ⟨lirmm-01221409⟩
  • Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze. Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems: A Study on Force Capabilities. IROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. pp.1672-1678, ⟨10.1109/IROS.2015.7353592⟩. ⟨lirmm-01221412⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde. Dimensioning of Cable-Driven Parallel Robot Actuators, Gearboxes and Winches according to the Twist Feasible Workspace. CASE: Conference on Automation Science and Engineering, IEEE, Aug 2015, Göteborg, Sweden. pp.99-105, ⟨10.1109/CoASE.2015.7294046⟩. ⟨hal-01941620⟩
  • Marc Gouttefarde, Dinh Quan Nguyen, Cédric Baradat. Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys. ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.213-221, ⟨10.1007/978-3-319-06698-1_23⟩. ⟨lirmm-01221403⟩
  • Dinh Quan Nguyen, Marc Gouttefarde. Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization. ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.181-191, ⟨10.1007/978-3-319-06698-1_20⟩. ⟨lirmm-01221404⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin. A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures. CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.275-291, ⟨10.1007/978-3-319-09489-2_20⟩. ⟨lirmm-01221407⟩
  • Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau. Test Bench For Nanosatellite Attitude Determination And Control System Ground Tests. 4S: Small Satellites Systems and Services Symposium, May 2014, Porto Petro, Spain. ⟨lirmm-01310802⟩
  • Dinh Quan Nguyen, Marc Gouttefarde. Study of Reconfigurable Suspended Cable-Driven Parallel Robots for Airplane Maintenance. IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.1682-1689, ⟨10.1109/IROS.2014.6942781⟩. ⟨lirmm-01221408⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin. Optimal Design of Cable-Driven Parallel Robots for Large Industrial Structures. ICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. pp.5744-5749, ⟨10.1109/ICRA.2014.6907703⟩. ⟨lirmm-01221401⟩
  • Dinh Quan Nguyen, Marc Gouttefarde, Olivier Company, François Pierrot. On the Analysis of Large-Dimension Reconfigurable Suspended Cable-Driven Parallel Robots. ICRA: International Conference on Robotics and Automation, Jun 2014, Hong-Kong, China. pp.5728-5735, ⟨10.1109/ICRA.2014.6907701⟩. ⟨lirmm-01221402⟩
  • Micaël Michelin, Cédric Baradat, Dinh Quan Nguyen, Marc Gouttefarde. Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo). CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.71-83, ⟨10.1007/978-3-319-09489-2_6⟩. ⟨lirmm-01221406⟩
  • Dinh Quan Nguyen, Marc Gouttefarde. On the Improvement of Cable Collision Detection Algorithms. CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.29-40, ⟨10.1007/978-3-319-09489-2_3⟩. ⟨lirmm-01221405⟩
  • Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze. Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo. CableCon: Cable-Driven Parallel Robots, Tobias Bruckmann; Andreas Pott, Aug 2014, Duisburg, Germany. pp.179-200, ⟨10.1007/978-3-319-09489-2_13⟩. ⟨lirmm-01084648⟩
  • Dinh Quan Nguyen, Marc Gouttefarde, Olivier Company, François Pierrot. On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.928-934, ⟨10.1109/IROS.2013.6696461⟩. ⟨lirmm-01221398⟩
  • Johann Lamaury, Marc Gouttefarde, Ahmed Chemori, Pierre-Elie Hervé. Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.4879-4886, ⟨10.1109/IROS.2013.6697060⟩. ⟨lirmm-01221399⟩
  • Johann Lamaury, Marc Gouttefarde. Control of a Large Redundantly Actuated Cable-Suspended Parallel Robot. ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. pp.4644-4649. ⟨lirmm-00841668⟩
  • Marc Gouttefarde, Jean-François Collard, Nicolas Riehl, Cédric Baradat. Simplified Static Analysis of Large-Dimension Parallel Cable-Driven Robots. ICRA: International Conference on Robotics and Automation, 2012, Saint Paul, MN, United States. pp.2299-2305, ⟨10.1109/ICRA.2012.6225159⟩. ⟨lirmm-00737544⟩
  • François Guay, Jean-François Collard, Marc Gouttefarde, Philippe Cardou. An Improved Branch-and-Bound Algorithm for Minimizing the Potential Energy of a Cable-Suspended Rigid Body. ASME'2011: International Design Engineering Technical Conferences & Annual Mechanisms and Robotics Conference, United States. pp.01-10. ⟨lirmm-00737245⟩
  • Marc Gouttefarde, Jean-François Collard, Johann Lamaury. Dynamics Modelling of Large Suspended Parallel Cable-driven Robots. ECCOMAS Thematic Conference on Multibody Dynamics, Belgium. pp.01-13. ⟨lirmm-00737241⟩
  • Jean-Baptiste Izard, Marc Gouttefarde, Micaël Michelin, Olivier Tempier, Cédric Baradat. A Reconfigurable Robot for Cable-Driven Parallel Robotic and Industrial Scenario Proofing. First international conference on cable-driven parallel robots, Stuttgart, Germany. pp.135-148. ⟨lirmm-00737650⟩
  • Jean-Baptiste Izard, Marc Gouttefarde, Cédric Baradat, David Culla, Damien Sallé. Integration of a parallel cable-driven robot on an existing building façade. First international conference on cable-driven parallel robots, Stuttgart, Germany. pp.149-164. ⟨lirmm-00737648⟩
  • Johann Lamaury, Marc Gouttefarde, Micaël Michelin, Olivier Tempier. Design and Control of a Redundant Suspended Cable-Driven Parallel Robots. Latest Advances in Robots Kinematics, Austria. pp.237-244. ⟨lirmm-00737551⟩
  • Dit Sandretto Julien Alexandre, David Daney, Marc Gouttefarde. Calibration of a Fully-Constrained Parallel Cable-Driven Robot. ROMANSY'2012: 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, Paris, France. pp.1-8. ⟨lirmm-00737638⟩
  • Johann Lamaury, Marc Gouttefarde. A Tension Distribution Method with Improved Computational Efficiency. First international conference on cable-driven parallel robots, Stuttgart, Germany. pp.71-85. ⟨lirmm-00737656⟩
  • Tej Dallej, Marc Gouttefarde, Nicolas Andreff, Redwan Dahmouche, Philippe Martinet. Vision-based Modeling and Control of Large-Dimension Cable-Driven Parallel Robots. IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. pp.1581-1586, ⟨10.1109/IROS.2012.6385504⟩. ⟨lirmm-00737658⟩
  • Tej Dallej, Marc Gouttefarde, Nicolas Andreff, Micaël Michelin, Philippe Martinet. Towards vision-based control of cable-driven parallel robots. IROS: Intelligent RObots and Systems, Sep 2011, San Francisco, United States. pp.2855-2860. ⟨lirmm-00737541⟩
  • Tej Dallej, Marc Gouttefarde, Nicolas Andreff, Micaël Michelin, Philippe Martinet. Towards vision-based control of cable-driven parallel robots. IROS: Intelligent Robots and Systems, Sep 2011, San Francisco, United States. IEEE/RSJ, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2855-2860, 2011, 〈10.1109/IROS.2011.6094591〉. 〈hal-00691562〉
  • Nicolas Riehl, Marc Gouttefarde, Cédric Baradat, François Pierrot. On the Determination of Cable Characteristics for Large Dimension Cable-Driven Parallel Mechanisms. ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.4709-4714, ⟨10.1109/ROBOT.2010.5509887⟩. ⟨lirmm-00486225⟩
  • David Corbel, Marc Gouttefarde, Olivier Company, François Pierrot. Towards 100G with PKM. Is Actuation Redundancy a Good Solution for Pick-and-Place?. ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, Alaska, United States. pp.4675-4682, ⟨10.1109/ROBOT.2010.5509921⟩. ⟨lirmm-00486231⟩
  • Nicolas Riehl, Marc Gouttefarde, François Pierrot, Cédric Baradat. On the Static Workspace of Large Dimension Cable-Suspended Robots with Non Negligible Cable Mass. ASME'10: International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2010, Montréal, Canada. pp.10. ⟨lirmm-00533867⟩
  • Marc Gouttefarde, Sébastien Krut. Characterization of Parallel Manipulator Available Wrench Set Facets. Advances in Robots Kinematics: Motion in Man and Machine, Jun 2010, Piran-Portorož, Slovenia. pp.475-482. ⟨lirmm-00533860⟩
  • François Pierrot, Cédric Baradat, Vincent Nabat, Olivier Company, Sébastien Krut, et al.. Above 40g Acceleration for Pick-and-Place with a New 2-Dof PKM. ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1794-1800, ⟨10.1109/ROBOT.2009.5152193⟩. ⟨lirmm-00399019⟩
  • Nicolas Riehl, Marc Gouttefarde, Sébastien Krut, Cédric Baradat, François Pierrot. Effects of Non-Negligible Cable Mass on the Static Behavior of Large Workspace Cable-Driven Parallel Mechanisms. ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.2193-2198, ⟨10.1109/ROBOT.2009.5152576⟩. ⟨lirmm-00397805⟩
  • Marc Gouttefarde. Characterizations of Fullly Constrained Poses of Parallel Cable-Driven Robots: a Review. ASME'08: International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2008, Brooklyn, NY, United States. pp.01-10. ⟨lirmm-00322382⟩
  • Marc Gouttefarde, Sébastien Krut, Olivier Company, François Pierrot, Nacim Ramdani. On the Design of Fully Constrained Parallel Cable-Driven Robots. Advances in Robots Kinematics: Analysis and Design, Jun 2008, Batz-sur-Mer, France. pp.71-78. ⟨lirmm-00322375⟩
  • Sébastien Krut, Nacim Ramdani, Marc Gouttefarde, Olivier Company, François Pierrot. A Parallel Cable-Driven Crane for Scara Motions. DETC: Design Engineering Technical Conferences, Aug 2008, Brooklyn, NY, United States. pp.101-108, ⟨10.1115/DETC2008-49969⟩. ⟨lirmm-00322385⟩
  • Nacim Ramdani, Marc Gouttefarde, François Pierrot, Jean-Pierre Merlet. First Results on the Design of High Speed Parallel Robots in Presence of Uncertainty. IROS'08: International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France, France. pp.2410-2415. ⟨lirmm-00327649⟩
  • Marc Gouttefarde, Jean-Pierre Merlet, David Daney. Wrench-Feasible Workspace of Parallel Cable-Driven Mechanisms. ICRA'07: International Conference on Robotics and Automation, Apr 2007, Roma, Italy, pp.1492-1497. ⟨lirmm-00199377⟩
  • Marc Gouttefarde, Jean-Pierre Merlet, David Daney. Determination of the Wrench-Closure Workspace of 6-DOF Parallel Cable-Driven Mechanisms. Advances in Robot Kinematics, Ljubljana, Slovenia, pp.315-322. ⟨lirmm-00198802⟩
  • Marc Gouttefarde, Clément M. Gosselin. On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms. ASME Design Engineering Technical Conferences 2004, Sep 2004, Salt Lake City, Utah, USA, pp.10. ⟨lirmm-00198798⟩

Book sections3 documents

Reports1 document

  • Julien Alexandre Dit Sandretto, David Daney, Marc Gouttefarde, Cédric Baradat. Calibration of a fully-constrained parallel cable-driven robot. [Research Report] RR-7879, INRIA. 2012, pp.21. 〈hal-00668921〉