Mobile Manipulator (1994-2004)
(In collaboration with P. Dauchez and F. Pierrot)
This project was focused on the development of Mobile Manipulator. This development included the teleoperation over IP network for remote controlling as well as the position/force control of redundant system including the manipulator and the mobile platform. The targeted applications were mainly the Minesweeping and Mobile Manipulation of Fragile Objects. More than 5 PhD students worked on this platform.
Robust Position Force Control (1994-1997)
(In collaboration with P. Dauchez and F. Pierrot)
We have developed a robust position/force controller for decreasing the stiffness sensitivity of the manipulator arm (see the experimental results performed on Delta Robot).
Robust Position Force Control for Two-Arm Robot (1994-1997)
(In collaboration with P. Dauchez and F. Pierrot)
We have developed a robust position force controller for a two-arm robot.
