
Marc Gouttefarde, Ph.D.
CNRS – Senior researcher (DR2)
LIRMM – Robotics Department – Team DEXTER
Tel.: +33/0 467 41 85 59
Fax: +33/0 467 41 85 00
Short CV
- 2017 – cont. CNRS Senior Researcher (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)
- 2007 – 2017 CNRS Researcher (CR), 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.
Research interests and activities
I am working in the team DEXTER 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. A complete list of my publications is available below on this web page.
I defended my « Habilitation à Diriger les Recherches » (HDR) in November 2016: link to the manuscript
Example of recent results
Video of the work of João Cavalcanti Santos on nonlinear model predictive control for position tracking: https://youtu.be/NIb_XYSVv84
Cable robots for building façades in the European project HEPHAESTUS: https://youtu.be/V7SDdgfhpUw — Euronews video
Demonstration videos of CoGiRo with an on-board robot manipulator, DexterWide ANR project:
- Coordinated motion: https://youtu.be/g0_OqK-ZWdU
- Active stabilization: https://youtu.be/tN5UPqr268o
- Drilling in concrete: https://youtu.be/yU3Lx-1FL1M
Video of CoGiRo performing 3D printing (Tecnalia and IAAC) : https://youtu.be/NHCXvCGlw-0
Main research projects
I am currently involved in the H2020 European projects 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.
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 ».
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 (chargé de mission), Section 7 – Robotics, at CNRS – INS2I (2022 – …)
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 and 2021
Publications
Journals
- 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, in press, 2022. (Link to PDF)
- 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, in press, 2022. (Link to PDF)
- K. Iturralde, …, M. Gouttefarde, …, Cable-driven parallel robot for curtain wall module installation, Automation in Construction, Elsevier, in press, 2022.
- 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.
- 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)
- 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)
- 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)
- 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)
- 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)
- 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
- 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)
- 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)
- 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)
- 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.
- 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.
- 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)
- 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
- 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
- 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
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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.
- 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)
- 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.
- 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.
- 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.
- 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.
- 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)
- 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.
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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)
- 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).
- 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).
- 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).
- 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).
- 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)
- 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)
- 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)
- 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)
- 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)
- 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.
- 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)
- 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).
- 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).
- 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).
- 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.
- 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).
- 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.
- 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)
- 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.
- 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.
- 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.
- 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).
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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).
- 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.
- 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.
- 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.