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DEXTER Team: Design and control of robotic manipulators

Yassine HADDAB


Design and control of robotic manipulators

The DEXTER team conducts research on design, control, and prototyping of efficient robot manipulators capable of achieving accurate and/or very quick motions, sometimes across wide workspaces and while handling heavy payloads. To reach these challenging goals, each fundamental research activity is validated by realistic experiments, an essential step in the valuation of these results with industrial partners, or with medical surgeons or clinicians.
The research topics addressed by the DEXTER team include methodologies for mechanical design, performance analysis and synthesis for parallel robots, the development of estimation protocols and the synthesis of sensor-based (e.g. force, vision) and/or model-based (e.g. predictive, adaptive) control laws.

The team emphasizes innovation with a strong mathematical modeling and mechatronics approach.

DEXTER’s main contributions are found in two main application areas:

  • Healthcare robotics, from assistive robotics to surgery
  • Parallel robotics for industrial applications requiring high speed, accuracy, large workspace and/or high payloads.

Nabil Zemiti, Maître de conférences, UM
François Pierrot, Directeur de recherche, CNRS
Ahmed Chemori, Chargé de recherche, CNRS
Marc Gouttefarde, Directeur de recherche, CNRS
Sébastien Krut, Chargé de recherche, CNRS
Olivier Company, Maître de conférences, UM
Yassine Haddab, Professeur des universités, UM
Salih Abdelaziz, Maître de conférences, UM
Philippe Poignet, Professeur des universités, UM
Cedric Girerd, Chargé de recherche, CNRS
Chao Liu, Chargé de recherche, CNRS

Associates & Students
Arthur Lacroix, UM
Alexandre Thuillier, CNRS
Ghina Hassan, U Libanaise
Youcef Mohamed Fitas, SYMETRIE
Marie De Boutray, CHU Mtp
Zeinab Awada, UM

Regular Co-workers
Joao Cavalcanti Santos, CDD Chercheur, UM
Benjamin Calme, CDD Enseignant-Chercheur, UM
Alexandra Mercader, CDD Ingénieur-Technicien, UM
Hamza El Jjouaoui, CDD Ingénieur-Technicien, UM
Damien Gueners, CDD Chercheur, UM
Lénaïc Cuau, CDD Ingénieur-Technicien, UM
Lucas Lavenir, CDD Chercheur, INSERM

The DEXTER team works on two main topics:

  • Surgery/assistive robotics
  • Parallel robotics
  • M. Bennehar, A.Chemori, M. Bouri, L.F. Jenni and F. Pierrot, “A New RISE-based Adaptive Control of PKMs: Design, Stability Analysis and Experiments”, International Journal of Control, 2017.
  • Q. Boehler, S. Abdelaziz, M. Vedrines, P. Poignet, P. Renaud, “From Modeling to Control of a Variable Stiffness Device Based on a Cable-driven Tensegrity Mechanism”, Mechanism and Machine Theory, vol 107, 2017.
  • 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.
  • F. Despinoy, D. Bouget, G. Forestier, C. Pinet, N. Zemiti, P. Poignet, and P. Jannin, “Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training”, IEEE Transactions on Biomedical Engineering, Vol 63, No. 6, pp 1280-1291, 2016.
  • 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.
  • G. Sartori-Natal, A.Chemori and F. Pierrot, “Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment”, IEEE Transactions on Control Systems Technology, Vol 23, Issue 4, pp. 1520–1535, 2015.
Cable robot CoGiRo equipped with a stabilizer — ANR project DexterWide
Cable robot CoGiRo and Yaskawa SIA20F: Drilling — ANR project DexterWide