ROBOTICS TEAM

Head : Christine CHEVALLEREAU

The research activities of the Robotics team can be classified according to the three following parts:

Modeling, identification and control of manipulators   more ... >>

     The objectives here are the enhancement of the static and dynamic performances of robots. Research on modeling, identification and control is done for robots with somewhat different structures: open chains, closed chains and tree structures. Experimental validations are performed on prototypes, on an industrial robot to our disposal at IRCCyN or on any other robot as well, through industrial grants.

Mobile robots   more ... >>

• One theme is concerned with dynamic localization of mobile robots, through the use of a goniometric sensor (SIREM). Stochastic approaches such as extended Kalman filters or data fusion techniques, as well as deterministic approaches are being developed.

• Another theme deals with modeling and control of wheeled robots, flying robots, walking robots and swimming robots.

Teleoperation and environment modeling   more ... >>

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Keywords : Modeling, Control, Identification, Calibration, Axis driving, Flexible robots, Walking robots, Parallel structure robots, Collision detection, Motion generation, Mobile robots, Localization, Teleoperation.