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Damien Chablat

5 accepted papers

2023

Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots

Tobias Marauli, Durgesh Haribhau Salunkhe, Hubert Gattringer, Andreas Müller, Damien Chablat, Philippe Wenger
IROS 2023poster

The kinematics of cuspidal 3R regional robots was studied extensively in the past. Moreover, certain industrial 6R robots were found to be cuspidal (e.g. Fanuc CRX series, Kinova GEN2), which makes cuspidal robots finally interesting for practical applications. This necessitates optimal trajectory p…

Cited by 2Source ↗Scholar ↗
2020

A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints

Benjamin Fasquelle, Matthieu Furet, Parag Khanna, Damien Chablat, Christine Chevallereau, Philippe Wenger
ICRA 2020poster

This paper proposes a new kind of light-weight manipulators suitable for safe interactions. The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints. Each X-joint is remotely actuated with cables and springs in parallel, thus realizing a tensegrity one-degree-of-fre…

Cited by 29Source ↗Scholar ↗
2016

ALPHA: A hybrid self-adaptable hand for a social humanoid robot

Giulio Cerruti, Damien Chablat, David Gouaillier, Sophie Sakka
IROS 2016poster

This paper presents a novel design of a compact and light-weight robotic hand for a social humanoid robot. The proposed system is able to perform common hand gestures and self-adaptable grasps by mixing under-actuated and self-adaptable hand kinematics in a unique design. The hand answers the need f…

Cited by 26Source ↗Scholar ↗
2015

Design method for an anthropomorphic hand able to gesture and grasp

Giulio Cerruti, Damien Chablat, David Gouaillier, Sophie Sakka
ICRA 2015poster

This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired robotic hands. In particular, there are no numerical methods…

Cited by 24Source ↗Scholar ↗