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Philippe Fraisse

14 accepted papers

2026

A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Antonio Gonzalez-Morgado, Jonas Soueidan, Guillermo Heredia, Anibal Ollero, Philippe Fraisse, Marco Tognon +1
ICRA 2026poster

Aerial robots are transitioning from traditional surveillance and monitoring roles to more advanced tasks involving physical interaction. Despite this progress, physical Human-Aerial Robot Interaction remains largely underexplored due to the complexity and stability-related issues of such platforms.…

Cited by 0Source ↗Scholar ↗
2025

A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Antonio González-Morgado, Jonas Soueidan, Guillermo Heredia, Aníbal Ollero, Philippe Fraisse, Marco Tognon +1
RA-L 2025

Aerial robots are transitioning from traditional surveillance and monitoring roles to more advanced tasks involving physical interaction. Despite this progress, physical Human-Aerial Robot Interaction remains largely underexplored due to the complexity and stability-related issues of such platforms.

Cited by 2Source ↗Scholar ↗
2025

Tactile-based force estimation for interaction control with robot fingers

Elie Chelly, Andrea Cherubini, Philippe Fraisse, Faïz Ben Amar, Mahdi Khoramshahi
IROS 2025

Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator’s surface. However their implementation faces two main challenges: accurate force estimation across complex s

Cited by 2Source ↗Scholar ↗
2020

Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping

Mariana de Paula Assis Fonseca, Bruno Vilhena Adorno, Philippe Fraisse
RA-L 2020

This letter proposes a six-DOF task-space admittance controller using the dual quaternion logarithmic mapping, coupling the translation and rotation impedance in a single mathematical structure. The controller is designed based on the energy of the system and the stiffness matrix is build to be cons

Cited by 19Source ↗Scholar ↗
2020

Robotic Manipulation Planning for Shaping Deformable Linear Objects WithEnvironmental Contacts

Jihong Zhu, Benjamin Navarro, Robin Passama, Philippe Fraisse, André Crosnier, Andrea Cherubini
RA-L 2020

Humans use contacts in the environment to modify the shape of deformable objects. Yet, few papers have studied the use of contacts in robotic manipulation. In this letter, we investigate the problem of robotic manipulation of cables with environmental contacts. Instead of avoiding contacts, we propo

Cited by 94Source ↗Scholar ↗
2019

Obstacle Avoidance using a Capacitive Skin for Safe Human-Robot Interaction

Kamal-Eddine M’Colo, Bruno Luong, André Crosnier, Christian Néel, Philippe Fraisse
IROS 2019poster

The paper describes a control framework using a capacitive skin for advanced and safe human-robot interactions. The skin consists of high density capacitive sensors which are able to detect objects at close distance. We propose a multitask kinematic control scheme which manages at once the control t…

Cited by 22Source ↗Scholar ↗
2018

Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control

Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini, Damien Sallé
IROS 2018poster

To make production lines more flexible, dual-arm robots are good candidates to be deployed in autonomous assembly units. In this paper, we propose a sparse kinematic control strategy, that minimizes the number of joints actuated for a coordinated task between two arms. The control strategy is based…

Cited by 19Source ↗Scholar ↗
2018

Dual-arm robotic manipulation of flexible cables

Jihong Zhu, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini
IROS 2018poster

Deforming a cable to a desired (reachable) shape is a trivial task for a human to do without even knowing the internal dynamics of the cable. This paper proposes a framework for cable shapes manipulation with multiple robot manipulators. The shape is parameterized by a Fourier series. A local deform…

Cited by 161Source ↗Scholar ↗
2018

Inertial Parameters Identification of a Humanoid Robot Hanged to a Fix Force Sensor

Vincent Bonnet, André Crosnier, Gentiane Venture, Maxime Gautier, Philippe Fraisse
ICRA 2018poster

Knowledge of the mass and inertial parameters of a humanoid robot is crucial for the development of model-based controller and motion planning in dynamics situation. Parameters are usually provided from Computer Aided Design (CAD) data and thus inaccurate specially if the robot is modified over time…

Cited by 7Source ↗Scholar ↗
2018

Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

Pierre Berthet-Rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-Zhong Yang
RA-L 2018

The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6

Cited by 48Source ↗Scholar ↗
2017

A framework for intuitive collaboration with a mobile manipulator

Benjamin Navarro, Andrea Cherubini, Aïcha Fonte, Gérard Poisson, Philippe Fraisse
IROS 2017poster

In this paper, we present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base. When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution…

Cited by 32Source ↗Scholar ↗
2017

Motion Discontinuity-Robust Controller for Steerable Mobile Robots

Mohamed Sorour, Andrea Cherubini, Philippe Fraisse, Robin Passama
RA-L 2017

Steerable wheeled mobile robots are able to perform arbitrary three-dimensional (3-D) planar trajectories, only after initializing the steer joint vector to the proper values. These robots employ fully steerable conventional wheels. Hence, they have higher load carrying capacity than their holonomic

Cited by 22Source ↗Scholar ↗
2016

An ISO10218-compliant adaptive damping controller for safe physical human-robot interaction

Benjamin Navarro, Andrea Cherubini, Aïcha Fonte, Robin Passama, Gérard Poisson, Philippe Fraisse
ICRA 2016

In human-robot interaction, the robot must behave safely, especially when an operator is present in its workspace. Even higher safety levels must be attained when physical contact occurs between the two. To this end, standards such as the ISO10218 define the requirements for a robot to be considered

Cited by 30Source ↗Scholar ↗
2016

Kinematic modeling and singularity treatment of steerable wheeled mobile robots with joint acceleration limits

Mohamed Sorour, Andrea Cherubini, Robin Passama, Philippe Fraisse
ICRA 2016

Non-holonomic omnidirectional mobile robots have higher load carrying capacity than their holonomic counterparts. Once the steer joint configuration is initialized, they can perform arbitrarily complex three-dimensional trajectories in the plane of motion and, as such, are more suitable for industri

Cited by 15Source ↗Scholar ↗