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Othman Lakhal

5 accepted papers

2023

Analytical Approach to Inverse Kinematics of Single Section Mobile Continuum Manipulators

Audrey Hyacinthe Bouyom Boutchouang, Achille Melingui, J.J.B. Mvogo Ahanda, Xinrui Yang, Othman Lakhal, Frederic Biya Motto +1
ICRA 2023poster

This paper proposes a novel mathematical solution to solve the inverse kinematics (IK) of single section mobile continuum manipulators (SSMCMs). Thus, to achieve a given pose of the end-effector (EE), the proposed mathematical solution consists in determining the position and orientation parameters…

Cited by 2Source ↗Scholar ↗
2023

Experimental Workflow Implementation for Automatic Detection of Filament Deviation in 3D Robotic Printing Process

Xinrui Yang, Othman Lakhal, Abdelkader Belarouci, Kamal Youcef-Toumi, Rochdi Merzouki
ICRA 2023poster

Robotic 3D Concrete Printing (3DCP) is a process of additive manufacturing using building materials. The system that performs 3DCP is a complex system consisting of multiple parts that are independent of each other. However, conventional 3DCP workflows usually lack automatic monitoring of print qual…

Cited by 0Source ↗Scholar ↗
2022

Adaptive Tracking Control for Industrial Robot Manipulators with Unknown Inner loop Architecture

Joseph Jean-Baptiste Mvogo Ahanda, Achille Melingui, Othman Lakhal, Bernard Essimbi Zobo, Hela Kadri, Rochdi Merzouki
ICRA 2022poster

The task space control of robot manipulators requires solving the thorny problem of stabilizing the compound system {outer controller - inner controller - robot manipulator}. To stabilize this compound system, both controllers must be designed by the user to achieve convergence of the tracking error…

Cited by 0Source ↗Scholar ↗
2018

PH Model-Based Shape Reconstruction of Heterogeneous Continuum Closed Loop Kinematic Chain: An Application to Skipping Rope

Inderjeet Singh, Yacine Amara, Othman Lakhal, Achille Melingui, Rochdi Merzouki
IROS 2018poster

Soft robotics is a swiftly growing research area these days. Modeling continuum robots accurately is still a demanding field. The paper aims to propose a shape reconstruction method and the estimation of the kinematic behavior of heterogeneous continuum robot in closed loop kinematic configuration,…

Cited by 5Source ↗Scholar ↗
2015

Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras

Julien Bosman, Thor Morales Bieze, Othman Lakhal, Mario Sanz, Rochdi Merzouki, Christian Duriez
ICRA 2015poster

This paper presents a development of a new method dedicated to the modeling and control of Continuum Robots, based on the Finite Element Method (FEM) using quasi-static assumption. The modeling relies on a discretization of the continuum robots using 6 DoFs Frames along the structure of the robot th…

Cited by 31Source ↗Scholar ↗