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79

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

  • 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⟩
  • 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-02087410v2⟩
  • 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. ⟨10.1109/TRO.2006.870638⟩. ⟨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 papers59 documents

  • Utkarsh Mishra, Stéphane Caro, Marc Gouttefarde. Optimizing Cable-Routing for Reconfigurable Cable-Driven Parallel Robots. 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2021), Aug 2021, Toronto, Canada. ⟨hal-03338563⟩
  • Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux. Continuous Tension Validation for Cable-Driven Parallel Robots. International Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas, United States. ⟨10.1109/IROS45743.2020.9341202⟩. ⟨hal-02900961⟩
  • João Cavalcanti Santos, Marc Gouttefarde. A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics. 17th International Symposium Advances in Robot Kinematics (ARK 2020), Jun 2020, Ljubljana, Slovenia. pp.199-208, ⟨10.1007/978-3-030-50975-0_25⟩. ⟨lirmm-02749091⟩
  • João Santos, Ahmed Chemori, Marc Gouttefarde. Redundancy Resolution integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments. International Conference on Robotics and Automation (ICRA), May 2020, Virtual, France. ⟨lirmm-02747604⟩
  • Nicolas Tremblay, Kaveh Kamali, Philippe Cardou, Christian Desrosiers, Marc Gouttefarde, et al.. Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots. CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.345-356, ⟨10.1007/978-3-030-20751-9_29⟩. ⟨lirmm-02309386⟩
  • João Santos, Ahmed Chemori, Marc Gouttefarde. Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots. CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.221-232, ⟨10.1007/978-3-030-20751-9_19⟩. ⟨lirmm-02155794⟩
  • Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux. Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot. International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ, Nov 2019, Macau, China. ⟨hal-02294402⟩
  • Lionel Birglen, Marc Gouttefarde. Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots. CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.61-71, ⟨10.1007/978-3-030-20751-9_6⟩. ⟨lirmm-02309355⟩
  • Maximilian Lesellier, Marc Gouttefarde. A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification. CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.173-183, ⟨10.1007/978-3-030-20751-9_15⟩. ⟨lirmm-02309368⟩
  • 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⟩
  • 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⟩
  • Hussein Hussein, Marc Gouttefarde, François Pierrot. Static Modeling of Sagging Cables With Flexural Rigidity and Shear Forces. 16th International Symposium on Advances in Robot Kinematics (ARK 2018), Jul 2018, Bologna, Italy. pp.310-318, ⟨10.1007/978-3-319-93188-3_36⟩. ⟨lirmm-01897992⟩
  • 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. 3rd International Conference on 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, 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. 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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. 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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. A Tension Distribution Method with Improved Computational Efficiency. 1st International Conference on Cable-Driven Parallel Robots (2012), 2012, Stuttgart, Germany. pp.71-85, ⟨10.1007/978-3-642-31988-4_5⟩. ⟨lirmm-00737656⟩
  • 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, Cédric Baradat, David Culla, Damien Sallé. Integration of a parallel cable-driven robot on an existing building façade. 1st International Conference on Cable-Driven Parallel Robots (2012), 2012, Stuttgart, Germany. pp.149-164, ⟨10.1007/978-3-642-31988-4_10⟩. ⟨lirmm-00737648⟩
  • 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⟩
  • Jean-Baptiste Izard, Marc Gouttefarde, Micaël Michelin, Olivier Tempier, Cédric Baradat. A Reconfigurable Robot for Cable-Driven Parallel Robotic and Industrial Scenario Proofing. 1st International Conference on Cable-Driven Parallel Robots (2012), 2012, Stuttgart, Germany. pp.135-148, ⟨10.1007/978-3-642-31988-4_9⟩. ⟨lirmm-00737650⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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, ⟨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⟩
  • 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⟩
  • 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⟩
  • 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, 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⟩
  • 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⟩
  • 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. 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, 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, 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 sections4 documents

  • João Cavalcanti Santos, Marc Gouttefarde. A Simple and Efficient Non-Model Based Cable Tension Control. Cable-Drive Parallel Robots, In press. ⟨lirmm-03217093⟩
  • Berti Allessando, Marc Gouttefarde, Marco Carricato. Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure. Advances in Robot Kinematics 2016, 4, pp.331-339, 2018, Springer Proceedings in Advanced Robotics (SPAR), 978-3-319-56801-0. ⟨10.1007/978-3-319-56802-7_35⟩. ⟨lirmm-01830286⟩
  • Lorenzo Gagliardini, Marc Gouttefarde, Stéphane Caro. Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots. J Lenarčič; J.P Merlet. Advances in Robot Kinematics 2016, 4, pp.361-370, 2018, Springer Proceedings in Advanced Robotics, 978-3-319-56802-7. ⟨10.1007/978-3-319-56802-7_38⟩. ⟨hal-01758038⟩
  • Lorenzo Gagliardini, Marc Gouttefarde, Stéphane Caro. Design of Reconfigurable Cable-Driven Parallel Robots. E Ottaviano; A Pelliccio; V Gattulli. Mechatronics for Cultural Heritage and Civil Engineering, 92 (92), pp.85-113, 2018, 978-3-319-68646-2. ⟨10.1007/978-3-319-68646-2_4⟩. ⟨hal-01758141⟩

Patents3 documents

  • Philip Long, David Marquez-Gamez, Stéphane Caro, Alexis Girin, Lorenzo Gagliardini, et al.. Reconfigurable Mobile Cable Robot. France, Patent n° : US 10,596,702 B2. 2020. ⟨hal-02929446⟩
  • Philip Long, David Marquez-Gamez, Stéphane Caro, Alexis Girin, Lorenzo Gagliardini, et al.. Reconfigurable Mobile Cable Robot. United States, Patent n° : US 2018/0178397 A1. 2018. ⟨hal-02929436⟩
  • Stéphane Caro, Lorenzo Gagliardini, Alexis Girin, Marc Gouttefarde, Paul Yvain. Robot à Câbles Reconfigurable et Méthode de Configuration d'un tel Robot. France, N° de brevet: EP2982483A2; EP2982483A3; FR3024956A1; FR3024956B1. ROMAS_HCERES2020. 2016. ⟨hal-02929544⟩

Reports2 documents

  • Marc Gouttefarde, Ghina Hassan, Ahmed Chemori. Proof of an Algorithm to Compute Time-Optimal Third Order Polynomial S-curve Trajectories. [Research Report] LIRMM (UM, CNRS). 2021. ⟨lirmm-03275300⟩
  • 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⟩