Search Results - "Gosselin, Clement"

Inertial analyses based on the generalized inertia matrix for parallel robots by Zhou, Zhou, Gosselin, Clément

“…Analyzing the inertial properties is meaningful for parallel robots, especially those interacting with the environment. This paper provides tools for the…”
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Deep Learning for Electromyographic Hand Gesture Signal Classification Using Transfer Learning by Cote-Allard, Ulysse, Fall, Cheikh Latyr, Drouin, Alexandre, Campeau-Lecours, Alexandre, Gosselin, Clement, Glette, Kyrre, Laviolette, Francois, Gosselin, Benoit

“…In recent years, deep learning algorithms have become increasingly more prominent for their unparalleled ability to automatically learn discriminant features…”
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Noncollocated Proprioceptive Sensing for Lightweight Flexible Robotic Manipulators by Garant, Xavier, Gosselin, Clement

“…This article presents the design of a noncollocated feedback system for flexible serial manipulators. The device is a passive serial chain of encoders and…”
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Kinematically redundant (6＋2)-dof HEXA robot for singularity avoidance and workspace augmentation by Flight, Joshua, Gosselin, Clément

“…This paper introduces a novel (6＋2)-degree-of-freedom (dof) kinematically redundant parallel robot. The proposed architecture is based on the 6-dof HEXA…”
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Large-scale 3D printing with a cable-suspended robot by Barnett, Eric, Gosselin, Clément

“…[Display omitted] •A novel large-scale 3D printer is introduced.•A cable-suspended mechanism is used for positioning, providing a large workspace.•A full…”
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Kinematic analysis of a new 2-DOF parallel wrist with a large singularity-free rotational workspace by Ghaedrahmati, Ramin, Gosselin, Clément

“…This paper introduces a novel dexterous overconstrained 2-DOF parallel wrist with a large singularity-free range of motion. This mechanism produces a 2-DOF…”
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Kinematically Redundant Spatial Parallel Mechanisms for Singularity Avoidance and Large Orientational Workspace by Gosselin, Clement, Schreiber, Louis-Thomas

“…This paper introduces a novel architecture of kinematically redundant parallel mechanisms. This family of mechanisms is similar to the well-known Gough-Stewart…”
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A Bisection Algorithm for Time-Optimal Trajectory Planning Along Fully Specified Paths by Barnett, Eric, Gosselin, Clement

“…The time-optimal trajectory planning problem involves minimizing the time required to follow a path defined in space, subject to kinematic and dynamic…”
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Singularity analysis of a kinematically redundant (6+2)-DOF parallel mechanism for zero-torsion configurations by Lacombe, Jonathan, Gosselin, Clément

“…The orientational workspace of parallel mechanisms is known to be restricted due to singular configurations of type II. Recently, a (6+3)-degree-of-freedom…”
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Design and Experimental Validation of Reorientation Manoeuvres for a Free Falling Robot Inspired From the Cat Righting Reflex by Garant, Xavier, Gosselin, Clement

“…This article presents two distinct manoeuvres allowing an articulated robot in free fall to change its orientation using closed paths in the joint space. It is…”
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Beyond-the-static-workspace point-to-point trajectory planning of a 6-DoF cable-suspended mechanism using oscillating SLERP by Dion-Gauvin, Pascal, Gosselin, Clément

“…This paper presents a general framework for the planning of point-to-point motions that extend beyond the static workspace of six-degree-of-freedom…”
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Singularity analysis of a kinematically redundant (6+2)-DOF parallel mechanism for general configurations by Lacombe, Jonathan, Gosselin, Clément

“…Parallel mechanisms suffer from type II singularities which reduce their useful orientational workspace. Adding kinematic redundancy in parallel mechanisms…”
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Kinematic Calibration of Cable-Driven Parallel Robots Considering the Pulley Kinematics by Zhang, Zhaokun, Xie, Guangqiang, Shao, Zhufeng, Gosselin, Clément

“…•The complete kinematic model of cable-driven parallel robots considering pulley kinematics was established.•The error modelconsidering pulley kinematics was…”
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Dynamically feasible motions of a class of purely-translational cable-suspended parallel robots by Mottola, Giovanni, Gosselin, Clément, Carricato, Marco

“…•A cable-suspended robot is presented with a spatial purely translational motion.•Several special architectures are identified with distinctive and useful…”
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A backdrivable 6-dof parallel robot for sensorless dynamically interactive tasks by Laliberté, Thierry, Abdallah, Muhammad, Gosselin, Clément

“…In order to combine low mechanical impedance and sufficient interaction forces, a six-degree-of-freedom robot featuring a mechanically backdrivable…”
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Dynamic Point-to-Point Trajectory Planning of a Three-DOF Cable-Suspended Parallel Robot by Xiaoling Jiang, Gosselin, Clement

“…This paper proposes a dynamic trajectory planning method for point-to-point motion of three-degree-of-freedom (three-DOF) cable-suspended parallel robots…”
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Stable and repeatable grasping of flat objects on hard surfaces using passive and epicyclic mechanisms by Babin, Vincent, St-Onge, David, Gosselin, Clément

“…•The grasping of flat objects resting on a stiff flat surface is addressed.•A static model of a rigid object being scooped on a flat surface is developed.•The…”
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Kinematically redundant planar parallel mechanisms: Kinematics, workspace and trajectory planning by Schreiber, Louis-Thomas, Gosselin, Clément

“…•Two general architectures of kinematically redundant planar parallel mechanisms are introduced.•Kinematic models are analyzed, an analytic workspace…”
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On the stability of macro–mini robotic systems for physical human–robot interaction by Gosselin, Clément, Nguyen, Tan-Sy

“…This paper addresses the stability of macro–mini robotic systems in a context of physical human–robot interaction (pHRI). A simple model including a…”
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Trajectory planning for the static to dynamic transition of point-mass cable-suspended parallel mechanisms by Dion-Gauvin, Pascal, Gosselin, Clément

“…•Formulation of the ideal kinematic states of a 2- and 3-dof cable-suspended mechanism.•A proof that any point below the cable spools can be reached.•A proof…”
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