Marc GOUTTEFARDE

Marc Gouttefarde

Bâtiment : 4 Rez de jardin

Bureau : 1.48

Téléphone : 04 67 41 85 59

Fax : 04 67 41 85 00

Email : Marc.Gouttefarde@lirmm.fr

Statut : Permanent

Marc Gouttefarde, Ph.D.
CNRS Research Scientist
LIRMM - Robotics Department - Team DEXTER
Tel.: +33/0 467 41 85 59
Fax: +33/0 467 41 85 00

CoNRS website (section 7) : http://section7.cnrs.fr/

NEWS!! First demonstration video of CoGiRo with an on-board robot manipulator, DexterWide ANR project:

https://youtu.be/QokpkLFY7BU

https://youtu.be/DUqvg9t6c34

Video of CoGiRo performing 3D printing (Tecnalia and IAAC) : https://youtu.be/NHCXvCGlw-0
 
Research Interests & Projects

I defended my "Habilitation à Diriger les Recherches" (HDR) in Nov. 2016: link to the manuscript

I am mainly working on the analysis, design, and control of cable-driven parallel robots.

I am coordinating the ANR project DexterWide (2015-2018): Cable-driven parallel robots with on-board active devices.

I am involved in a H2020 European project: HEPHAESTUS (2017 - 2020): Highly automated physical achievements and performances using cable robot unique systems.

I was involved in the projet CAROCA of IRT Jules Verne: "Evaluation des CApacités de la RObotique à CAbles dans un contexte industriel".

I was also involved in a FP7 European project: CableBOT (web page: http://212.142.226.123/cablebot/en/). I led CableBOT WP1, "Definition of the architecture of cable robots for their application in industrial environments."

I coordinated the ANR project CoGiRo, which dealt with large-dimension parallel cable-driven robots: web page of CoGiRo (in French).

Other Activities

Associate Editor - ASME Journal of Mechanisms and Robotics (2016 - ...)

Associate Editor - IEEE Robotics and Automation Letters (2016 - ...)

Deputy Director of LIRMM Robotics Department (2016 - ...)

Short CV

2016 - cont.   CNRS Director of Research (DR2), Team DEXTER, LIRMM, Montpellier, France.

Nov. 2016       Habilitation à Diriger les Recherches (HDR), Université de Montpellier, France.

                     Title: Analysis and Synthesis of Large-Dimension Cable-Driven Parallel Robots

                     (link to the manuscript)

2011 - 2016     CNRS Senior Research Scientist (CR1), Team DEXTER, LIRMM, Montpellier, France.

2007 - 2011     CNRS Research Scientist (CR2), Team DEXTER, LIRMM, Montpellier, France.

2005 - 2007     Postdoctoral Fellow at INRIA with the COPRIN team, Sophia-Antipolis, France.

2002 - 2005     Ph.D. --- Laval University Robotics Laboratory, Québec, Canada.

2001 - 2002     M.Sc. --- Laval University Robotics Laboratory, Québec, Canada.

1996 - 2001     Mechatronics Engineer --- INSA of Strasbourg (formerly ENSAIS), France.

Publications

Journals

  1. H. Yuan, E. Courteille, M. Gouttefarde, P.-E. Hervé, "Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method", Journal of Sound and Vibration, Vol. 394, pp. 527-544, 2017.
  2. L. Gagliardini, S. Caro, M. Gouttefarde, A. Girin, "Discrete reconfiguration planning for Cable-Driven Parallel Robots," Mechanism and Machine Theory, Vol. 100, pp. 313-337, 2016.
  3. M. Gouttefarde, J. Lamaury, C. Reichert, T. Bruckmann, "A Versatile Tension Distribution Algorithm for n-DOF Parallel Robots Driven by n+2 Cables,"  IEEE Transactions on Robotics, Vol. 31, No. 6, pp. 1444-1457, 2015.
  4. M. Gouttefarde, J. F. Collard, N. Riehl, C. Baradat, "Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot," IEEE Transactions on Robotics, Vol. 31, No. 2, pp. 501-510, 2015.
  5. M. Gouttefarde, D. Daney, J.-P. Merlet, "Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots," IEEE Transactions on Robotics, Vol. 27, No. 1, pp. 1-13, 2011.
  6. D. Corbel, M. Gouttefarde, O. Company, F. Pierrot, "Actuation Redundancy as a Way to Improve the Acceleration Capabilities of 3T and 3T1R Pick-and-Place Parallel Manipulators," ASME Journal of Mechanisms and Robotics, Vol. 2, No. 4, 13 pages, 2010.
  7. M. J.-D. Otis, S. Perreault, Th.-L. Nguyen-Dang, P. Lambert, M. Gouttefarde, D. Laurendeau, C. Gosselin, "Determination and Management of Cable Interferences Between Two 6-DOF Foot Platforms in a Cable-Driven Locomotion Interface," IEEE Transactions on Systems, Man, and Cybernetics, Part. A, Vol. 39, No. 3, pp. 528-544, 2009.
  8. M. Gouttefarde, C. M. Gosselin, "Analysis of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms," IEEE Transactions on Robotics, Vol. 22, No. 3, pp. 434-445, 2006.
  9. M. Gouttefarde, C. M. Gosselin, "Wrench-Closure Workspace of Six-DOF Parallel Mechanisms Driven by 7 Cables," Transactions of the Canadian Society for Mechanical Engineering, Vol. 29, No. 4, pp. 541-552, 2005.

Conferences

  1. S. Lessanibahri, M. Gouttefarde, S. Caro, P. Cardou, "Twist Feasibility Analysis of Cable-Driven Parallel Robots," Cable-Driven Parallel Robots, C. Gosselin, P. Cardou, T. Bruckmann, A. Pott (eds), Springer, pp 128-139, 2018 (Third international conference on cable-driven parallel robots, Québec, Canada, 2017.)
  2. P. Tempel, P.-E. Hervé, O. Tempier, M. Gouttefarde, A. Pott, "Estimating Inertial Parameters of Suspended Cable-Driven Parallel Robots – Use Case on CoGiRo," IEEE Int. Conf. Robotics and Automation (ICRA’17), Singapore, 2017.
  3. M. Gouttefarde, "Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator," 6th European Conference on Mechanism Science (EUCOMES), Nantes, France, 2016.
  4. I. Gavrilovich, S. Krut, M. Gouttefarde, F. Pierrot, "Determination of a Rigid Body Orientation By Means of Indirect Measurements,"  6th European Conference on Mechanism Science (EUCOMES), Nantes, France, 2016.
  5. G. El-Ghazaly, M. Gouttefarde, V. Creuze, F. Pierrot, "Maximum Wrench Feasible Payload in Cable-Driven Parallel Robots Equipped with a Serial Robot," IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Alberta, Canada, 2016.
  6. L. Gagliardini, M. Gouttefarde, S. Caro, "Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots," Advances in Robot Kinematics (ARK), 15th ARK International Symposium, Grasse, France, 2016.
  7. A. Berti, M. Gouttefarde, M. Carricato, "Dynamic recovery of cable-suspended parallel robots after a cable failure," Advances in Robot Kinematics (ARK), 15th ARK International Symposium, Grasse, France, 2016.
  8. I. Gavrilovich, S. Krut, M. Gouttefarde, F. Pierrot, L. Dusseau, "Innovative Approach to Use Air Bearings in Cubesat Ground Tests," Small Satellites Systems and Services Symposium (4S Symposium), La Valette, Malta, May 2016.
  9. G. El-Ghazaly, M. Gouttefarde, V. Creuze, "Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems: A Study on Force Capabilities," IEEE/RSJ 2015 Int. Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.
  10. I. Gavrilovich, S. Krut, M. Gouttefarde, F. Pierrot, L. Dusseau, "Robotic Test Bench for CubeSat Ground Testing: Concept and Satellite Dynamic Parameter Identification," IEEE/RSJ 2015 Int. Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.
  11. L. Gagliardini, S. Caro, M. Gouttefarde, A. Girin, " Dimensioning of Cable-Driven Parallel Robot Actuators, Gearboxes And Winches According To The Twist Feasible Workspace," IEEE International Conference on Automation Science and Engineering (CASE), Gothenburg, Sweden, 2015.
  12. L. Gagliardini, S. Caro, M. Gouttefarde, A. Girin, "A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots," IEEE Int. Conf. Robotics and Automation (ICRA’15), Seattle, Washington, pp. 1613-1620, 2015.
  13. D. Q. Nguyen, M. Gouttefarde, "Study of Reconfigurable Suspended Cable-Driven Parallel Robots for Airplane Maintenance," IEEE/RSJ 2014 Int. Conf. on Intelligent Robots and Systems (IROS 2014), Chicago, USA, 2014. --- ICROS Best Application Paper Award Finalist ---
  14. L. Gagliardini, S. Caro, M. Gouttefarde, P. Wenger, A. Girin, "A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures," Cable-Driven Parallel Robots, T. Bruckmann and A. Pott eds., Springer, pp. 275-291, 2014 (Second international conference on cable-driven parallel robots, Duisburg, Germany).
  15. G. El-Ghazaly, M. Gouttefarde, V. Creuze, "Adaptive terminal sliding mode control of a redundantly-actuated cable-driven parallel manipulator: CoGiRo," Cable-Driven Parallel Robots, T.   Bruckmann and A. Pott eds., Springer, pp. 179-200, 2014 (Second international conference on cable-driven parallel robots, Duisburg, Germany).
  16. M. Michelin, C. Baradat, D. Q. Nguyen, M. Gouttefarde, "Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)," Cable-Driven Parallel Robots, T.  Bruckmann and A. Pott eds., Springer, pp. 71-83, 2014 (Second international conference on cable-driven parallel robots, Duisburg, Germany).
  17. D. Q. Nguyen, M. Gouttefarde, "On the Improvement of Cable Collision Detection Algorithms," Cable-Driven Parallel Robots, T. Bruckmann and A. Pott eds., Springer, pp. 29-40, 2014 (Second   international conference on cable-driven parallel robots, Duisburg, Germany).
  18. D. Q. Nguyen, M. Gouttefarde, "Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization," Advances in Robot Kinematics (ARK), J. Lenarcic and O. Khatib eds., Springer, pp. 181-191, 2014 (14th ARK International Symposium).
  19. M. Gouttefarde, D. Q. Nguyen, C. Baradat, "Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys," Advances in Robot Kinematics (ARK), J. Lenarcic and O. Khatib eds., Springer, pp. 213-221, 2014 (14th ARK International Symposium).
  20. D. Q. Nguyen, M. Gouttefarde, O. Company, F. Pierrot, "On the Analysis of Large-Dimension Reconfigurable Suspended Cable-Driven Parallel Robots, IEEE Int. Conf. Robotics and Automation (ICRA’14), Hong Kong, China, pp. 5728-5735, 2014.
  21. L. Gagliardini, S. Caro, M. Gouttefarde, P. Wenger, A. Girin, "Optimal Design of Cable-Driven Parallel Robots for Large Industrial Structures," IEEE Int. Conf. Robotics and Automation (ICRA’14), Hong Kong, China, pp. 5744-5749, 2014.
  22. I. Gavrilovich, S. Krut, M. Gouttefarde, F. Pierrot, L. Dusseau, "Test Bench For Nanosatellite Attitude Determination And Control Systems Ground Tests," Small Satellites Systems and Services Symposium (4S Symposium), Porto Petro, Majorca, Spain, May 2014.
  23. J. Lamaury, M. Gouttefarde, A. Chemori, P.-E. Herve, "Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots," IEEE/RSJ 2013 Int. Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, pp. 4879-4886, 2013.
  24. D. Q. Nguyen, Marc Gouttefarde, O. Company, F. Pierrot, "On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots," IEEE/RSJ 2013 Int. Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, pp. 928-934, 2013.
  25. J. Lamaury, M. Gouttefarde, "Control of a Large Redundantly Actuated Cable-Suspended Parallel Robot,” IEEE Int. Conf. Robotics and Automation (ICRA’13), Karlsruhe, Germany, pp. 4659-4664, 2013.
  26. T. Dallej, M. Gouttefarde, N. Andreff, D. Dhamouche, P. Martinet, "Vision-based Modeling and Control of Large-Dimension Cable-Driven Parallel Robots," IEEE/RSJ 2012 International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, 2012.
  27. J. Lamaury, M. Gouttefarde, "A Tension Distribution Method with Improved Computational Efficiency," Cable-Driven Parallel Robots,  T. Bruckmann and A. Pott eds., Springer, pp. 71-85, 2012 (First  international conference on cable-driven parallel robots, Stuttgart,  Germany).
  28. J.-B. Izard, M. Gouttefarde, M. Michelin, O. Tempier, C. Baradat, "A Reconfigurable Robot for Cable-Driven Parallel Robotic and Industrial Scenario Proofing," Cable-Driven Parallel Robots, T. Bruckmann and A. Pott eds., Springer, pp. 135-148, 2012 (First international conference on cable-driven parallel robots, Stuttgart, Germany).
  29. J.-B. Izard, M. Gouttefarde, C. Baradat, D. Culla, D. Sallé, "Integration of a Parallel Cable-Driven Robot on an Existing Building Facade," Cable-Driven Parallel Robots,  T. Bruckmann and A. Pott eds., Springer, pp. 149-164, 2012 (First  international conference on cable-driven parallel robots, Stuttgart,  Germany).
  30. J. A. Dit Sandretto, D. Daney, M. Gouttefarde, "Calibration of a Fully-Constrained Parallel Cable-Driven Robot," 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (ROMANSY 2012), Paris, France, Juin 2012.
  31. J. Lamaury, M. Gouttefarde, M. Michelin, O. Tempier, "Design and Control of a Redundant Suspended Cable-Driven Parallel Robots," Advances in Robot Kinematics (ARK), J. Lenarcic and M. Husty eds., Springer, pp. 237-244, 2012 (13th ARK International Symposium).
  32.  M. Gouttefarde, J.-F. Collard, N. Riehl, C. Baradat, "Simplified Static Analysis of Large-Dimension Parallel Cable-Driven Robots," Proc. of the IEEE Int. Conf. Robotics and Automation (ICRA’12), Saint Paul, Minnesota, pp. 2299-2305, 2012.
  33. T. Dallej, M. Gouttefarde, N. Andreff, M. Michelin, P. Martinet, "Towards vision-based control of cable-driven parallel robots," Proc. of the IEEE/RSJ 2011 International Conference on Intelligent Robots and Systems (IROS'11), San Francisco, California, pp. 2855-2860, 2011.
  34. F. Guay, J.-F. Collard, P. Cardou, M. Gouttefarde, "An Improved Branch-and-Bound Algorithm for Minimizing the Potential Energy of a Cable-Suspended Rigid Body," Proc. of the ASME 2011 International Design Engineering Technical Conferences, Washington, D.C., USA, DETC2011-48169, 2011.
  35. J.F. Collard, J. Lamaury, M. Gouttefarde, "Dynamics Modelling of Large Suspended Parallel Cable-driven Robots, " in Proc. of the ECCOMAS Thematic Conference on Multibody Dynamics, Brussels, Belgium, 2011.
  36. N. Riehl, M. Gouttefarde, F. Pierrot, C. Baradat, "On the Static Workspace of Large Dimension Cable-Suspended Robots with Non Negligible Cable Mass," Proc. of the ASME 2010 International Design Engineering Technical Conferences, Montréal, Québec, Canada, DETC2010-28405, 2010.
  37. M. Gouttefarde, S. Krut, "Characterization of Parallel Manipulator Available Wrench Set Facets," Advances in Robot Kinematics (ARK), J. Lenarcic and M. Stanisic eds., Springer, pp. 475-482, 2010 (12th ARK International Symposium).
  38. N. Riehl, M. Gouttefarde, C. Baradat, F. Pierrot, "On the Determination of Cable Characteristics for Large Dimension Cable-Driven Parallel Mechanisms," Proc. of the IEEE Int. Conf. Robotics and Automation (ICRA’10), Anchorage, Alaska, pp. 4709-4714, 2010.
  39. D. Corbel, M. Gouttefarde, O. Company, F. Pierrot, "Towards 100G with PKM. Is Actuation Redundancy a Good Solution for Pick-and-Place?" Proc. of the IEEE Int. Conf. Robotics and Automation (ICRA’10), Anchorage, Alaska, pp. 4675-4682, 2010.
  40. N. Riehl, M. Gouttefarde, S. Krut, C. Baradat, F. Pierrot, "Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms," Proc. of the IEEE Int. Conf. Robotics and Automation (ICRA’09), Kobe, Japan, pp. 2193-2198, 2009.
  41. F. Pierrot, C. Baradat, V. Nabat, O. Company, S. Krut, M. Gouttefarde, "Above 40g Acceleration for Pick-and-Place with a New 2-dof PKM," Proc. of the IEEE Int. Conf. Robotics and Automation (ICRA’09), Kobe, Japan, pp. 1794-1800, 2009.
  42. N. Ramdani, M. Gouttefarde, F. Pierrot, J.-P. Merlet, "First Results on the Design of High Speed Parallel Robots in Presence of Uncertainty," Proc. of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (IROS), Nice, France, pp. 2410-2415, 2008.
  43. M. Gouttefarde, "Characterizations of Fully Constrained Poses of Parallel Cable-Driven Robots: a Review," Proc. of the ASME 2008 International Design Engineering Technical Conferences, Brooklyn, New-York, USA, DETC2008-49467, 2008.
  44. S. Krut, N. Ramdani, M. Gouttefarde, O. Company, F. Pierrot, "A Parallel Cable-Driven Crane for Scara-Motions," Proc. of the ASME 2008 International Design Engineering Technical Conferences, Brooklyn, New-York, USA, DETC2008-49969, 2008.
  45. M. Gouttefarde, S. Krut, O. Company, F. Pierrot, N. Ramdani, "On the Design of Fully Constrained Parallel Cable-Driven Robots," Advances in Robot Kinematics (ARK), J. Lenarcic and P. Wenger eds., Springer, pp. 71-78, 2008 (Presented at: 11th ARK International Symposium, June 2008, Batz-sur-Mer, France).
  46. M. Gouttefarde, J.-P. Merlet, D. Daney, "Wrench-Feasible Workspace of Parallel Cable-Driven Mechanisms," Proc. of the IEEE Int. Conf. Robotics and Automation (ICRA’07), Rome, Italie, pp. 1492-1497, 2007.
  47. M. Gouttefarde, J.-P. Merlet, D. Daney, "Determination of the wrench-closure workspace of 6-DOF parallel cable-driven mechanisms," Advances in Robot Kinematics (10th ARK International Symposium), J. Lenarcic and B. Roth eds., Springer, pp. 315-322, 2006.
  48. M. Gouttefarde, C. M. Gosselin, "On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms," Proc. of the ASME 2004 International Design Engineering Technical Conferences, Salt Lake City, UT, USA, MECH-57127, 2004.

Mots-clés

Cable-Driven Parallel Robots, Kinematics, Computational Kinematics, Dynamics, Redundant Robots, Tendon/Wire Mechanisms and robots, Mechanism Design of Manipulators, Performance Evaluation, Robotics

Dernière mise à jour le 14/11/2017