Achille Melingui — accepted AI-conference papers

2023

Analytical Approach to Inverse Kinematics of Single Section Mobile Continuum Manipulators

Audrey Hyacinthe Bouyom Boutchouang, Achille Melingui, J.J.B. Mvogo Ahanda, Xinrui Yang, Othman Lakhal, Frederic Biya Motto +1

ICRA 2023poster

This paper proposes a novel mathematical solution to solve the inverse kinematics (IK) of single section mobile continuum manipulators (SSMCMs). Thus, to achieve a given pose of the end-effector (EE), the proposed mathematical solution consists in determining the position and orientation parameters…

Cited by 2 Source ↗Scholar ↗

2022

Adaptive Tracking Control for Industrial Robot Manipulators with Unknown Inner loop Architecture

Joseph Jean-Baptiste Mvogo Ahanda, Achille Melingui, Othman Lakhal, Bernard Essimbi Zobo, Hela Kadri, Rochdi Merzouki

ICRA 2022poster

The task space control of robot manipulators requires solving the thorny problem of stabilizing the compound system {outer controller - inner controller - robot manipulator}. To stabilize this compound system, both controllers must be designed by the user to achieve convergence of the tracking error…

Cited by 0 Source ↗Scholar ↗

2021

Inverse Dynamics Model-Based Shape Control of Soft Continuum Finger Robot Using Parametric Curve

Steeve Mbakop, Gilles Tagne, Marc-Henri Frouin, Achille Melingui, Rochdi Merzouki

RA-L 2021

Soft continuum robots are more and more used in various applications due to the multiple advantages offered by the properties of hyper-elastic soft materials, such as resilience, flexibility, etc. Despite all these essential properties that make the soft robots good candidates for some real-life nee

Cited by 29 Source ↗Scholar ↗

2018

PH Model-Based Shape Reconstruction of Heterogeneous Continuum Closed Loop Kinematic Chain: An Application to Skipping Rope

Inderjeet Singh, Yacine Amara, Othman Lakhal, Achille Melingui, Rochdi Merzouki

IROS 2018poster

Soft robotics is a swiftly growing research area these days. Modeling continuum robots accurately is still a demanding field. The paper aims to propose a shape reconstruction method and the estimation of the kinematic behavior of heterogeneous continuum robot in closed loop kinematic configuration,…

Cited by 5 Source ↗Scholar ↗