Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe
The aim of this project is to design, study and build an "eel-like robot" prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the realization...
Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe
The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...
Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe
The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...
Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe
The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...
Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe
The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...
A Vision-based Computed Torque Control for Parallel Kinematic Machines (2008)
Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe
In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with...
A Vision-based Computed Torque Control for Parallel Kinematic Machines (2008)
Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe
In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with...
A Vision-based Computed Torque Control for Parallel Kinematic Machines (2008)
Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe
In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with...
Estimation of the Absolute Orientation of a Five-link Walking Robot with Passive Feet (2007)
Aoustin, Yannick, Garcia, Gaëtan, Lemoine, Philippe
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Chettibi, Taha, Lemoine, Philippe
A simple direct method is applied to solve the problem of optimal trajectory generation for serial manipulators under electro-mechanical constraints. The goal is to increase the robot productivity by...
Estimation of the Absolute Orientation of a Five-link Walking Robot with Passive Feet (2007)
Aoustin, Yannick, Garcia, Gaëtan, Lemoine, Philippe
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Chettibi, Taha, Lemoine, Philippe
A simple direct method is applied to solve the problem of optimal trajectory generation for serial manipulators under electro-mechanical constraints. The goal is to increase the robot productivity by...
Identification of the payload inertial parameters of industrial manipulators (2007)
Khalil, Wisama, Gautier, Maxime, Lemoine, Philippe
In this paper we present four methods for the identification of the inertial parameters of the load of a manipulator. The knowledge of the values of these parameters can be used to tune the control...
Identification of the payload inertial parameters of industrial manipulators (2007)
Khalil, Wisama, Gautier, Maxime, Lemoine, Philippe
In this paper we present four methods for the identification of the inertial parameters of the load of a manipulator. The knowledge of the values of these parameters can be used to tune the control...
Robot anguille sous-marin en 3D (2006)
Boyer, Frédéric, Alamir, Mazen, Chablat, Damien, Khalil, Wisama, Leroyer, Alban, Lemoine, Philippe
L'objectif de ce projet soutenu par le programme ROBEA CNRS est de concevoir, étudier et réaliser un robot « anguille » capable de nager en trois dimensions. Pour cela nous étudions sur la base...
Robot anguille sous-marin en 3D (2006)
Boyer, Frédéric, Alamir, Mazen, Chablat, Damien, Khalil, Wisama, Leroyer, Alban, Lemoine, Philippe
L'objectif de ce projet soutenu par le programme ROBEA CNRS est de concevoir, étudier et réaliser un robot « anguille » capable de nager en trois dimensions. Pour cela nous étudions sur la base...
Identification experimentale des paramètres inertiels de la charge d'un robot Stäubli RX90 (2006)
Khalil, Wisama, Lemoine, Philippe, Gautier, Maxime, Erginer, Onur
Dans cet article nous présentons l'identification des paramètres inertiels de la charge d'un robot Stäubli RX 90. La connaissance de ces paramètres peut être utilisée pour mettre à jour le...
Identification experimentale des paramètres inertiels de la charge d'un robot Stäubli RX90 (2006)
Khalil, Wisama, Lemoine, Philippe, Gautier, Maxime, Erginer, Onur
Dans cet article nous présentons l'identification des paramètres inertiels de la charge d'un robot Stäubli RX 90. La connaissance de ces paramètres peut être utilisée pour mettre à jour le...
Identification of the Dynamic Parameters of the Orthoglide (2003)
Guegan, Sylvain, Khalil, Wisama, Lemoine, Philippe
This paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. The dynamic identification model is based on the inverse dynamic model, which is...
Identification of the Dynamic Parameters of the Orthoglide (2003)
Guegan, Sylvain, Khalil, Wisama, Lemoine, Philippe
This paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. The dynamic identification model is based on the inverse dynamic model, which is...
A semi quadruped walking robot - first experimental results (2003)
Aoustin, Yannick, Bellavoir, Serge, Branchu, Gaël, Chevallereau, Christine, Formal'Sky, Alexander, Lemoine, Philippe, ...
SemiQuad is walking robot prototype with a platform and two two-link legs. Thus, it is five-link mechanism. Front leg models identical motions of two quadruped's front legs, rear leg models identical...
A semi quadruped walking robot - first experimental results (2003)
Aoustin, Yannick, Bellavoir, Serge, Branchu, Gaël, Chevallereau, Christine, Formal'Sky, Alexander, Lemoine, Philippe, ...
SemiQuad is walking robot prototype with a platform and two two-link legs. Thus, it is five-link mechanism. Front leg models identical motions of two quadruped's front legs, rear leg models identical...
SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools (2001)
Gautier, Maxime, Pham, Minh Tu, Khalil, Wisama, Lemoine, Philippe, Poignet, Philippe
This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools),...
SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools (2001)
Gautier, Maxime, Pham, Minh Tu, Khalil, Wisama, Lemoine, Philippe, Poignet, Philippe
This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools),...
SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools (2000)
Gautier, Maxime, Pham, Minh Tu, Khalil, Wisama, Lemoine, Philippe, Poignet, Philippe
This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools),...
Comparison study of the geometric parameters calibration methods (2000)
Khalil, Wisama, Besnard, Sébastien, Lemoine, Philippe
This paper presents a comparison study on the methods of geometric parameters calibration of robots. The study takes into consideration classical methods which require the measuring of the position...
SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools (2000)
Gautier, Maxime, Pham, Minh Tu, Khalil, Wisama, Lemoine, Philippe, Poignet, Philippe
This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools),...
Comparison study of the geometric parameters calibration methods (2000)
Khalil, Wisama, Besnard, Sébastien, Lemoine, Philippe
This paper presents a comparison study on the methods of geometric parameters calibration of robots. The study takes into consideration classical methods which require the measuring of the position...
GECARO: A system for the GEometric CAlibration of RObots (1999)
Khalil, Wisama, Lemoine, Philippe
This paper presents a software package for the simulation and the practical calibration of the geometric parameters of robots. This system which is called GECARO, GEometric CAlibration of RObots,...
GECARO: A system for the GEometric CAlibration of RObots (1999)
Khalil, Wisama, Lemoine, Philippe
This paper presents a software package for the simulation and the practical calibration of the geometric parameters of robots. This system which is called GECARO, GEometric CAlibration of RObots,...
A software package for the calibration of robots (1996)
Khalil, Wisama, Lemoine, Philippe
This paper presents a software package for the simulation and the realization of the calibration of the geometric parameters of robots. This package which is called GECARO, GEometric CAlibration of...
A software package for the calibration of robots (1996)
Khalil, Wisama, Lemoine, Philippe
This paper presents a software package for the simulation and the realization of the calibration of the geometric parameters of robots. This package which is called GECARO, GEometric CAlibration of...
Autonomous calibration of Robots using planar points (1996)
Khalil, Wisama, Lemoine, Philippe, Gautier, Maxime
This paper presents two methods for the calibration of the geometric parameters of serial robots. They are based on putting the terminal point of the robot in a plane, only the position sensors of...
Autonomous calibration of Robots using planar points (1996)
Khalil, Wisama, Lemoine, Philippe, Gautier, Maxime
This paper presents two methods for the calibration of the geometric parameters of serial robots. They are based on putting the terminal point of the robot in a plane, only the position sensors of...
Les instruments à vent dans la symphonie française de 1750 à 1789 [microform] / (1995)
Thesis (doctoral)--Université François Rabelais, 1995.