Imane Khayour — accepted AI-conference papers

2020

Improving Disturbance Rejection and Dynamics of Cable Driven Parallel Robots with On-board Propellers

Imane Khayour, Loïc Cuvillon, Côme Butin, Arda Yiğit, Sylvain Durand, Jacques Gangloff

IROS 2020poster

This work studies redundant actuation for both trajectory tracking and disturbance rejection on flexible cable-driven parallel robots (CDPR). High dynamics/bandwidth unidirectional force generators, like air propellers, are used in combination with conventional but slower cable winding winches. To o…

Cited by 11 Source ↗Scholar ↗

2019

Active Damping of Parallel Robots Driven by Flexible Cables Using Cold-Gas Thrusters

Hugo Sellet, Imane Khayour, Loic Cuvillon, Sylvain Durand, Jacques Gangloff

ICRA 2019poster

This work is a preliminary study assessing the feasibility of using cold-gas thrusters for active damping of flexible cable-driven parallel robots. The concept is validated experimentally on a planar robot embedding custom-built supersonic air thrusters operating at an industry-standard pressure lev…

Cited by 17 Source ↗Scholar ↗