Azouaou Ouyoucef — accepted AI-conference papers

2025

Duality of the Existing Geometric Variable Strain Models for the Dynamic Modeling of Continuum Robots

Azouaou Ouyoucef, Quentin Peyron, Vincent Lebastard, Federico Renda, Gang Zheng, Frédéric Boyer

RA-L 2025

The Cosserat rod theory has become a gold standard for modeling the statics and dynamics of serial and parallel continuum robots. Recently, a weak form of these Cosserat rod models called the geometric variable strain model has been derived where the robot deformations are projected on finite-dimens

Cited by 1 Source ↗Scholar ↗

2025

Durability-Aware Trajectory Planning and Quasi-Static Control of a Continuum Parallel Robot for Industrial Applications

Azouaou Ouyoucef, Quentin Peyron, Gang Zheng, Frédéric Boyer

RA-L 2025

This paper addresses durability-aware trajectory planning and tracking strategies for the motion of the platform in an extensible planar tendon-actuated continuum parallel robot (CPR). The proposed planning approach combines the A* algorithm with the Geometric Variable Strain (GVS) static Cosserat r

Cited by 1 Source ↗Scholar ↗