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Valentin Le Mesle

5 accepted papers

2026

Optimal Control Approach for Non-Prehensile Ball Juggling Using a 7-DoF Manipulator

Joel Ramadani, Vasilije Rakcevic, Riddhiman Laha, Arne Sachtler, Valentin Le Mesle, Achim J. Lilienthal +1
ICRA 2026poster

Non-prehensile object manipulation skills are important for real-world robot interactions, enabling highly dynamic tasks such as balancing a glass on a tray or the controlled sliding of items on a table. Among such tasks, those characterised by high-speed manipulation requirements and general sensit…

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2026

RCM Constraint-Consistent Dynamic Control in Surgical Robots

Yu Li, Hamid Sadeghian, Zewen Yang, Valentin Le Mesle, Sami Haddadin
ICRA 2026poster

Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Existing virtual RCM controllers are commonly formulated either at the kinematic level or as task-space objectives, which mak…

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2025

Braking Control in Clutched-Elastic Robots: Coordinating the Underactuation-to-Actuation Transition

Vasilije Rakcevic, Dennis Ossadnik, Edmundo Pozo Fortunic, Mehmet Can Yildirim, Valentin Le Mesle, Sami Haddadin
IROS 2025

Robots with intrinsic joint elasticity can perform highly dynamic manoeuvres by leveraging energy storage and release, enabling explosive motions such as throwing. By augmenting elastic robots with clutch mechanisms, link decoupling can be used to fully exploit inertial coupling effects and gravitat

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2025

Design Optimization of a Single-DoF Gait Rehabilitation Robot for a Domestic Environment

Julius Ambros, Valentin Le Mesle, Laura Tissari, Hendrik Börner, Helfried Peyrl, Tim C. Lüth +1
IROS 2025

In an aging society, the need for rehabilitation treatment is expected to rise. As current healthcare systems have limited capacity and personnel, access to rehabilitation devices usable in households can help address the demand. A lower-limb rehabilitation robot designed for home use must be adapta

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2025

Investigating the Fitness of Finger Grippers for Dynamic Tactile Manipulation Under Static Object Conditions

Mehmet Can Yildirim, Dee Hva Choong, Johannes Ringwald, Robin Jeanne Kirschner, Valentin Le Mesle, Sami Haddadin
IROS 2025

Robotic system development must adopt a holistic approach for tactile and dynamic tasks, shifting from the decoupled design of end-effectors and robot manipulators for traditional sequential tasks. Although established metrics exist for traditional tasks, such as pick-and-place, they lack the nuance

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