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Ghislain Lambert

5 accepted papers

2024

Mechanism Design for New Sensors Field Deployment by LineRanger Powerline Robot

Pierre-Luc Richard, Jonathan Bellemare, Philippe Hamelin, Camille Hébert, Ghislain Lambert, Samuel Lavoie +5
ICRA 2024poster

Powerline robotics is slowly becoming key tools for electric utilities. Contrary to drones that are usually limited to inspection tasks, wheeled robots like LineRanger can perform a broader range of applications. In this paper, a suite of mechanical devices is featured, as several new asset manageme…

Cited by 0Source ↗Scholar ↗
2022

Inside LineRanger: Mechanism Design to Optimize Operation and Performances of Powerline Inspection Robot

Pierre-Luc Richard, François Morin, Marco Lepage, Philippe Hamelin, Ghislain Lambert, Alex Sartor +2
ICRA 2022poster

Even if UAVs undoubtedly had a profound effect on the visual inspection capabilities of transmission lines, rolling robots, especially for bundled configurations, will still play an extensive role in the maintenance of these strategic assets. As such, LineRanger is among the most efficient and capab…

Cited by 10Source ↗Scholar ↗
2020

Slip-Limiting Controller for Redundant Line-Suspended Robots: Application to Line Ranger

Philippe Hamelin, Pierre-Luc Richard, Marco Lepage, Marin Lagacé, Alex Sartor, Ghislain Lambert +2
ICRA 2020

In this paper, a slip-limiting controller for redundant line-suspended robots is presented. This kind of robot is usually equipped with v-shaped wheels, which brings uncertainty about the effective wheel radius, particularly when crossing obstacles. The proposed algorithm is able to estimate and lim

Cited by 1Source ↗Scholar ↗
2020

Slip-Limiting Controller for Redundant Line-Suspended Robots: Application to LineRanger

Philippe Hamelin, Pierre-Luc Richard, Marco Lepage, Marin Lagacé, Alex Sartor, Ghislain Lambert +2
ICRA 2020poster

In this paper, a slip-limiting controller for redundant line-suspended robots is presented. This kind of robot is usually equipped with v-shaped wheels, which brings uncertainty about the effective wheel radius, particularly when crossing obstacles. The proposed algorithm is able to estimate and lim…

Cited by 2Source ↗Scholar ↗
2018

LineDrone Technology: Landing an Unmanned Aerial Vehicle on a Power Line

François Mirallès, Philippe Hamelin, Ghislain Lambert, Samuel Lavoie, Nicolas Pouliot, Matthieu Montfrond +1
ICRA 2018poster

This paper presents the design of a multirotor unmanned aerial vehicle (UAV) capable of landing semiautomatically on a power line while carrying a payload. The vehicle then rolls along the line to perform an inspection. Special attention is given to the vehicle's onboard vision system, which consist…

Cited by 82Source ↗Scholar ↗