Menu Fermer

Marc Gouttefarde

portrait Marc Gouttefarde

Marc Gouttefarde, Ph.D.
CNRS – Senior researcher (DR2)
LIRMM – Robotics Department – DEXTER team
@: marc.gouttefarde@lirmm.fr
Tel.: +33/0 467 41 85 59

CNRS Informatics — CoNRS website (section 7)

Research interests and results

I am working on the analysis, design, control, and applications of cable-driven parallel robots. In collaboration with academic and industrial partners, most of the results of these researches are validated on cable-driven parallel robot demonstrators or applications.

My first main achievements dealt with the analysis and determination of the workspace of cable-driven parallel robots. This research work showed that the workspace of a CDPR is highly dependent on the way the cables are configured (cable arrangement). Therefore, I coordinated the ANR project CoGiRo that notably dealt with the determination of cable arrangements leading to CDPRs with large workspace to footprint ratios, a critical property in most applications. At the same time, I also promoted the use of large-dimension CDPRs capable of handling heavy loads. Compared to standard lifting appliances such as overhead cranes, these machines use several cables set in particular arrangements to avoid, at least partially, payload sway. The main achievement of this project is the large-dimension CDPR called CoGiRo, first demonstrated in 2012. The CDPR CoGiRo has a payload carrying capability of more than 300 kg and its supporting structure has overall dimensions of 15 m by 11 m on the ground and 6 m high. These demonstrations showed that heavy payloads can be lifted and displaced across most of the space covered by the supporting structure with control of their six degrees of freedom. This very large workspace to footprint ratio has been obtained thanks to the particular crossed-cable cable arrangement of the CoGiRo prototype.

The large workspace and heavy payload capabilities of the CoGiRo CDPR were also exploited in the framework of the CableBOT FP7 European project, where (relatively) accurate part positioning, e.g. for assembly, was demonstrated in 2014, both in automatic and manual operation. The efficient CoGiRo cable configuration has more recently been used in the design of the Robotic Seabed Cleaning Platform of the MAELSTROM EU project. This robot can remove large litter from the seabed in shallow water. The CoGiRo cable configuration has also directly inspired the CraneBot commercial system design.

I further contributed to the design of CDPRs with a methodology to determine the smallest maximum cable tension. It is relevant since the maximum cable tension directly influences the design of the various mechanical components of a CDPR since they must safely withstand the loads induced by this maximum tension. Hence, the determination of the smallest maximum tension is critical to a safe but optimized design. This methodology has been applied to optimize the design of the CDPR prototype of the HEPHAESTUS European project. This robot can install curtain walls on a building facade.

I also coordinated the collaborative ANR project DexterWide. In this project, in 2019, we demonstrated the coordinated motion of a CDPR equipped with a robotic manipulator in order to achieve dexterous tasks over large volumes as well as active CDPR mobile platform vibration damping.

Besides, I also contributed to CDPR motion planning and control with a focus on the specific issue of the unidirectional nature of cable actuation (cables can pull but not push). My publications are listed below on this web page, together with a list of my main research projects and activities.

Short CV

  • 2017 – cont.       CNRS Senior Researcher (DR2), DEXTER team, 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)
  • 2007 – 2017       CNRS Researcher (CR), DEXTER team, 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.

Examples of recent results

Videos of the first cleaning campaign in Venice of the cable robot demonstrator (robotic seabed cleaning platform) of the EU project MAELSTROM:

Press articles on the robotic seabed cleaning platform of the EU project MAELSTROM:

Cable robots for building façades in the European project HEPHAESTUS:

Video of the work of João Cavalcanti Santos on nonlinear model predictive control for position tracking: https://youtu.be/NIb_XYSVv84

Demonstration videos of CoGiRo with an on-board robot manipulator, DexterWide ANR project:

Photos of CoGiRo in the DexterWide ANR Projet

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

I defended my « Habilitation à Diriger les Recherches » (HDR) in November 2016: link to the manuscript

Main research projects

I am participating in the ANR project CABTIVE coordinated by Institut Pascal. The project deals with 3D printing with cable-driven parallel robots (2023 – 2026).

I am involved in the project AAutonom, with Inrae (UMR ITAP), financially supported by Univ Montpellier and Région Occitanie. One goal of this project is to design and test a low-cost cable-driven parallel robot for agriculture.

I was also currently involved in the H2020 European project MAELSTROM (2021 – 2024): Smart technology for MArinE Litter SusTainable RemOval and Management, and DynaMITE, Dynamic applications of large volume metrology in industry of tomorrow environments (2021 – 2024).

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

I coordinated the ANR project DexterWide (2015 – 2019): Cable-driven parallel robots with on-board active devices.

I was involved in the projet CAROCA (2014 – 2016) of IRT Jules Verne: « Evaluation des CApacités de la RObotique à CAbles dans un contexte industriel », wherein I worked with my colleagues at LS2N lab.

I was also involved in the FP7 European project CableBOT from 2011 to 2014 (Euronews video). 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 (2009 – 2013). One of the largest cable-driven parallel robot worldwide,  CoGiRo, was designed and built in this project (a demonstration video).

Other current activities

Scientific advisor (délégué scientifique), Section 7 – Robotics, at CNRS Informatics (2022 – …)

I am coordinating with Philippe Souères (LAAS-CNRS) the « Défi-clé » Robotique Centrée sur l’Humain« , financially supported by Région Occitanie (2021 – 2025).

Head of LIRMM Robotics Department (2020 – …)

Associate Editor – IEEE Transactions on Robotics (2021 – …)

Past editorial activities

Associate Editor – ASME Journal of Mechanisms and Robotics, 2016 – 2021
Associate Editor – IEEE Robotics and Automation Letters, 2016 – 2019
Associate Editor – IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012 – 2016

Organizer of the Fifth International Conference on Cable-Driven Parallel Robots (CableCon, virtual event, July 7 – 9, 2021) https://cablecon2021.sciencesconf.org/

Member of the editorial board of the « International Conference on Cable-Driven Parallel Robots », 2012, 2014, 2017, 2019, 2021, 2023 and 2025.

Publications

Journals

  1. Z. Awada, Y. Haddab, M. Gouttefarde, PneuNet actuators design: Trade-offs between deformation, force, and resistance to buckling, Sensors and Actuators A: Physical, Feb. 2025. (Link to PDF)
  2. J. Cavalcanti Santos, M. Gouttefarde, A. Chemori, A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots, IEEE Transactions on Robotics, Vol. 38, No. 4, pp. 2597 – 2616, March 2022. (Link to PDF)
  3. G. Hassan, M. Gouttefarde, A. Chemori, P.-E. Hervé, M. El Rafei, C. Francis, D. Sallé, Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots, IEEE/ASME Transactions on Mechatronics, Vol. 27, No. 6, December  2022. (Link to PDF)
  4. K. Iturralde, …, M. Gouttefarde, …, Cable-driven parallel robot for curtain wall module installation, Automation in Construction, Elsevier, Vol. 138, June 2022. (Link to PDF)
  5. L. Tang, M. Gouttefarde, A. Doria, H. Sun, H. Wang, C. Zhou, Analysis and verification of cable pretension effect on the buckling load of a single-link flexible mechanism, Applied Mathematical Modelling, Vol. 104, pp. 499-516, 2022. (Link to PDF)
  6. L. Tang, M. Gouttefarde, H. Sun, L. Yin, C. Zhou, Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables, Mechanism and Machine Theory, Vol. 162, 2021. (Link to PDF)
  7. H. Hussein, J. Cavalcanti Santos, J.-B. Izard, M. Gouttefarde, Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots, IEEE Transactions on Robotics, Vol. 37, No. 4, pp. 1186-1205, Aug. 2021. (Link to PDF)
  8. T. Dallej, M. Gouttefarde, N. Andreff, P.-E. Hervé, P. Martinet, « Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup, » Mechatronics, Vol. 61, pp. 20-36, 2019. (Link to PDF)
  9. J. Begey, L. Cuvillon, M. Lesellier, M. Gouttefarde, J. Gangloff, « Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches, » IEEE Transactions on Robotics, Vol. 35, No. 1, pp. 286-293, 2019. (Link to PDF)
  10. 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. (Link to PDF)
  11. 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. (Link to PDF) — Crossley Best Paper Award
  12. 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. (link to PDF)
  13. 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. (link to PDF)
  14. 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. (Link to PDF)
  15. 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.
  16. 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.
  17. 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. (Link to PDF)
  18. 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.

Book chapters

  1. M. Gouttefarde, T. Bruckmann, Cable-Driven Parallel Robots. In: Ang M.H., Khatib O., Siciliano B. (eds) Encyclopedia of Robotics. Springer, 2022. https://doi.org/10.1007/978-3-642-41610-1_149-1 (Link to PDF)
  2. L. Gagliardini, M. Gouttefarde, S. Caro, « Design of Reconfigurable Cable-Driven Parallel Robots, » Ottaviano E., Pelliccio A. and Gattulli V. eds., Mechatronics for Cultural Heritage and Civil Engineering, Vol. 92, pp.85-113, 2018. (Link to PDF)

Conferences

  1. Y. Attia, E. Simetti, M. Gouttefarde. Hybrid Cable Thruster Actuated Remotely Operated Underwater Vehicle. CAMS 2024 – 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Sep 2024, Blacksburg, VA, United States. (Link to PDF)
  2. Z. Awada, H. El Jjouaui, M. Gouttefarde, Y. Haddab. Modeling of a Thick Cylindrical Pneumatic Leg for a Soft Parallel Robot. ROBOSOFT 2024 – 7th IEEE-RAS International Conference on Soft Robotics, Apr 2024, San Diego (CA), United States. (Link to PDF)
  3. M. Gouttefarde, M. Rodriguez, C. Barrelet, P.-E. Hervé, V. Creuze, et al.. The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal. Cable-Driven Parallel Robots, S. Caro, T. Bruckmann and A. Pott eds., Springer, 2023 (Sixth International Conference on Cable-Driven Parallel Robots, CableCon 2023). (Link to PDF)
  4. V. Mattioni, E. Idá, M. Gouttefarde, M. Carricato. A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots. Cable-Driven Parallel Robots, S. Caro, T. Bruckmann and A. Pott eds., Springer, 2023 (Sixth International Conference on Cable-Driven Parallel Robots, CableCon 2023). (Link to PDF)
  5. J.-B. Izard, M. Gouttefarde. On the Cable Actuation of End-Effector Degrees of Freedom in Cable-Driven Parallel Robots. Cable-Driven Parallel Robots, S. Caro, T. Bruckmann and A. Pott eds., Springer, 2023 (Sixth International Conference on Cable-Driven Parallel Robots, CableCon 2023). (Link to PDF)
  6. N. Sacchi, E. Simetti, G. Antonelli, G. Indiveri, V. Creuze, M. Gouttefarde, Analysis of Hybrid Cable-Thruster actuated ROV in heavy lifting interventions, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. (Link to PDF)
  7. G. Hassan, A. Chemori, M. Gouttefarde, M. El Rafei, C. Francis, P.E. Hervé, D. Sallé, A New Augmented RISE Feedback Controller for Pick-and-Throw Applications with PKMs. IFAC-SYROCO 2022. (Link to PDF)
  8. G. Hassan, A. Chemori, M. Gouttefarde, M. El Rafei,  C. Francis, P.-E. Hervé, D. Sallé, A Novel Extended Desired Compensation Adaptive Law for High-Speed Pick-and-Throw with PKMs, ALCOS 2022 – 14th IFAC International Workshop on Adaptive and Learning Control Systems, 2022. (Link to PDF)
  9. G. Hassan, A. Chemori, M. El Rafei, M. Gouttefarde, C. Francis, P.-E. Hervé, D. Sallé, Ultra-Local Model-Based Intelligent Robust Control of PKMs: Theory and Simulations, ALCOS 2022 – 14th IFAC International Workshop on Adaptive and Learning Control Systems, 2022. (Link to PDF)
  10. Cyril Barrelet, Marc Chaumont, Gérard Subsol, Vincent Creuze, Marc Gouttefarde. From TrashCan to UNO: Deriving an Underwater Image Dataset To Get a More Consistent and Balanced Version. CVAUI 2022 − 5th Workshop on Computer Vision for Analysis of Underwater Imagery @ICPR, Jul 2022, Montreal, Canada. (Link to PDF)
  11. U. Mishra, S. Caro, M. Gouttefarde, Optimizing Cable-Routing for Reconfigurable Cable-Driven Parallel Robots. 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2021), Aug 2021, Toronto, Canada. (Link to PDF)
  12. M. Michelin, P.-E. Hervé, O. Tempier, J.-B. Izard, M. Gouttefarde, « Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot, » Cable-Driven Parallel Robots, M. Gouttefarde T. Bruckmann and A. Pott eds., Springer, 2021 (Fifth international conference on cable-driven parallel robots). (Link to PDF)
  13. J. Cavalcanti Santos, M. Gouttefarde, « A Simple and Efficient Non-Model Based Cable Tension Control, » Cable-Driven Parallel Robots, M. Gouttefarde T. Bruckmann and A. Pott eds., Springer, 2021 (Fifth international conference on cable-driven parallel robots). (Link to PDF)
  14. D. Bury, J.-B. Izard, M. Gouttefarde, F. Lamiraux, « Continuous Tension Validation for Cable-Driven Parallel Robots, » 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, United States, 2020. (Link to PDF)
  15. J. Cavalcanti Santos, A. Chemori, M. Gouttefarde, « Redundancy Resolution Integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments, » IEEE Int. Conf. Robotics and Automation (ICRA’20), Paris, France, Virtual Conference, 2020. (Link to PDF)
  16. J. Cavalcanti Santos, M. Gouttefarde, « A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics, » Advances in Robot Kinematics (ARK), 17th ARK International Symposium, Ljubljana, Slovenia, 2020. (Link to PDF)
  17. D. Bury, J.-B. Izard , M. Gouttefarde, F. Lamiraux, « Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot, » 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019. (Link to PDF)
  18. L. Birglen, M. Gouttefarde, « Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots, » Cable-Driven Parallel Robots, A. Pott and T. Bruckmann eds., Springer, pp. 61-72, 2019 (Fourth international conference on cable-driven parallel robots – 15th IFToMM World Congress, Krakow, Poland). (Link to PDF)
  19. J. Cavalcanti Santos, A. Chemori, M. Gouttefarde, « Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots, » Cable-Driven Parallel Robots, A. Pott and T. Bruckmann eds., Springer, pp. 221-232, 2019 (Fourth international conference on cable-driven parallel robots – 15th IFToMM World Congress, Krakow, Poland). (Link to PDF)
  20. M. Lesellier, M. Gouttefarde, « A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification, » Cable-Driven Parallel Robots, A. Pott and T. Bruckmann eds., Springer, pp. 173-184, 2019 (Fourth international conference on cable-driven parallel robots – 15th IFToMM World Congress, Krakow, Poland). (Link to PDF)
  21. N. Tremblay, K. Kamali, P. Cardou, C. Desrosiers, M. Gouttefarde, and M. J.-D. Otis, « Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots, » Cable-Driven Parallel Robots, A. Pott and T. Bruckmann eds., Springer, pp. 345-356, 2019 (Fourth international conference on cable-driven parallel robots – 15th IFToMM World Congress, Krakow, Poland). (Link to PDF)
  22. M. Lesellier, L. Cuvillon, J. Gangloff, M. Gouttefarde, « An active stabilizer for cable-driven parallel robot vibration damping, » 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. (Link to PDF)
  23. H. Hussein, M. Gouttefarde, J. Cavalcanti Santos, « Geometric Optimization of a Large Scale CDPR Operating on a Building Facade, » 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. (Link to PDF)
  24. H. Hussein, M. Gouttefarde, F. Pierrot, « Static Modeling of Sagging Cables With Flexural Rigidity and Shear Forces, » Advances in Robot Kinematics (ARK), 16th ARK International Symposium, Bologna, Italy, 2018. (Link to PDF)
  25. J.-B. Izard, M. Gouttefarde, H. Hussein, C. Martin, W. Kraus, A. Pott, M. Rodriguez, « Cable-Driven Parallel Robots: Principle and Applications of an Advanced Crane System, » VIII International Congress on Architectural Envelopes, San Sebastian-Donostia, Spain, June 2018.
  26. 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.) (Link to PDF)
  27. 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.
  28. 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.
  29. 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.
  30. 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.
  31. 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. (Link to PDF)
  32. 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.
  33. 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. (Link to PDF)
  34. 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. (Link to PDF)
  35. 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. (Link to PDF)
  36. 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. (Link to PDF)
  37. 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. (Link to PDF)
  38. 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 — (Link to PDF)
  39. 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). (Link to PDF)
  40. 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). (Link to PDF)
  41. 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).
  42. 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).
  43. 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).
  44. 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).
  45. 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. (Link to PDF)
  46. 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. (Link to PDF)
  47. 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. (Link to PDF)
  48. 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. (Link to PDF)
  49. 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. (Link to PDF)
  50. 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.
  51. 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. (Link to PDF)
  52. 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).
  53. 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).
  54. 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).
  55. 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.
  56. 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).
  57.  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.
  58. 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. (Link to PDF)
  59. 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.
  60. 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.
  61. 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.
  62. 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).
  63. 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.
  64. 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.
  65. 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.
  66. 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.
  67. 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.
  68. 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.
  69. 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.
  70. 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).
  71. 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.
  72. 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.
  73. 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.