305 citations · 2.1k across the 178 of their papers we have counts for
9 papers · 2 filters
A review of cuspidal serial and parallel manipulators
Philippe Wenger, Damien Chablat
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all…
Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot
Swaminath Venkateswaran, Damien Chablat
Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these…
Stacked Tensegrity Mechanism for Medical Application
Dhruva Khanzode, Ranjan Jha, Emilie Duchalais +1
In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of…
Design of a robot for the automatic charging of an electric car
Damien Chablat, Riccardo Mattacchione, Erika Ottaviano
In this paper, a robot with parallel architecture is proposed for charging an electric vehicle having the charging socket on its front side. Kinematic models are developed to desig…
An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints
Haribhau Durgesh, Guillaume Michel, Shivesh Kumar +2
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The…
Trajectory planning in Dynamics Environment : Application for Haptic Perception in Safe HumanRobot Interaction
A Gutierrez, V Guda, S Mugisha +2
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objec…
Non-linear stiffness behavior of planar serial robotic manipulators
Wanda Zhao, Alexandr Klimchik, Anatol Pashkevich +1
The paper focuses on the stiffness analysis of multi-link serial planar manipulators, which may demonstrate nonlinear stiffness behavior under the compressive loading. Two importan…
Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal
Durgesh Haribhau Salunkhe, Christoforos Spartalis, Jose Capco +2
Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the…
A new simple dynamic muscle fatigue model and its validation
Liang Ma, Damien Chablat, Fouad Bennis +1
Musculoskeletal disorder (MSD) is one of the major health problems in physical work especially in manual handling jobs. In several literatures, muscle fatigue is considered to be c…