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Marc Gouttefarde

10 accepted papers

2022

Analysis of Hybrid Cable-Thruster actuated ROV in heavy lifting interventions

Nikolas Sacchi, Enrico Simetti, Gianluca Antonelli, Giovanni Indiveri, Vincent Creuze, Marc Gouttefarde
IROS 2022poster

Many operations performed by work class Remotely Operated Vehicles (ROVs) require the manipulation of heavy loads. An example is the manipulation and grouting of armour stones. A way to increase the working capabilities of the ROV is to introduce cables among the set of actuators. The cable lengths…

Cited by 3Source ↗Scholar ↗
2020

Continuous Tension Validation for Cable-Driven Parallel Robots

Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux
IROS 2020poster

This paper deals with continuous tension validation for Cable-Driven Parallel Robots (CDPRs). The proposed method aims at determining whether or not a quasi-static path is feasible regarding cable tension limits. The available wrench set (AWS) is the set of wrenches that can be generated with cable…

Cited by 9Source ↗Scholar ↗
2020

Redundancy Resolution Integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments

Joao C. Santos, Ahmed Chemori, Marc Gouttefarde
ICRA 2020poster

This paper introduces a Model Predictive Control (MPC) strategy for fully-constrained Cable-Driven Parallel Robots. The main advantage of the proposed scheme lies in its ability to explicitly handle cable tension limits. Indeed, the cable tension distribution is performed as an integral part of the…

Cited by 40Source ↗Scholar ↗
2019

Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux
IROS 2019poster

A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bo…

Cited by 21Source ↗Scholar ↗
2018

An Active Stabilizer for Cable-Driven Parallel Robot Vibration Damping

Maximilian Lesellier, Loic Cuvillon, Jacques Gangloff, Marc Gouttefarde
IROS 2018poster

Cable-Driven Parallel Robots (CDPRs) can execute fast motions across a large workspace. However, these performances are reached at the cost of a relatively low stiffness which often yields parasitic vibrations at the CDPR mobile platform. In this paper, vibration damping of CDPRs is addressed by mea…

Cited by 19Source ↗Scholar ↗
2018

Geometric Optimization of a Large Scale CDPR Operating on a Building Facade

Hussein Hussein, João Cavalcanti Santos, Marc Gouttefarde
IROS 2018poster

This paper deals with the optimization of the geometry of a Cable-Driven Parallel Robot (CDPR) dedicated to large-scale construction applications. Since the maximum cable tension is a critical parameter in the design of the CDPR components, the geometry of the CDPR is optimized by minimizing the low…

Cited by 41Source ↗Scholar ↗
2017

Estimating inertial parameters of suspended cable-driven parallel robots — Use case on CoGiRo

Philipp Tempel, Pierre-Elie Herve, Olivier Tempier, Marc Gouttefarde, Andreas Pott
ICRA 2017poster

Model based open-loop and closed-loop control systems make use of the system's inertial parameters. Unfortunately, not all of these values can be determined analytically nor can they be obtained from simple measurements. Established experiments for inertial parameters estimation have been applied to…

Cited by 34Source ↗Scholar ↗
2015

A reconfiguration strategy for Reconfigurable Cable-Driven Parallel Robots

Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin
ICRA 2015poster

This paper deals with Reconfigurable Cable-Driven Parallel Robots (RCDPRs). A RCDPR is able to change the locations of its cable exit points, the latter being defined as the connection points between the cables and the robot base frame. Given a RCDPR, a set of possible reconfigurations, a desired pl…

Cited by 52Source ↗Scholar ↗
2015

Hybrid cable-thruster actuated underwater vehicle-manipulator systems: A study on force capabilities

Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze
IROS 2015poster

Traditional underwater vehicle-manipulator systems (UVMS) consist mainly of an underwater vehicle on which a manipulator is mounted. In addition to the vehicle thrusters, this paper proposes to use cables to actuate UVMSs. The main goal of this extra source of actuation is to enhance UVMS work capab…

Cited by 34Source ↗Scholar ↗
2015

Robotic test bench for CubeSat ground testing: Concept and satellite dynamic parameter identification

Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot, Laurent Dusseau
IROS 2015poster

This paper introduces a novel concept of an air bearing test bench for CubeSat ground testing together with the corresponding dynamic parameter identification method. Contrary to existing air bearing test benches, the proposed concept allows three degree-of-freedom unlimited rotations and minimizes…

Cited by 16Source ↗Scholar ↗