Complex Systems and Parsimony
The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems.
Complex Systems
Event-Based Control
Sylvain Durand, sdurand@unistra.fr
Non Linear Predictive Control
Loïc Cuvillon, l.cuvillon@unistra.fr
A Completer
Iulia, Hassan, Edouard
Parsimony
Flexible Mechanisms
Lennart Rubbert, lennart.rubbert@insa-strasbourg.fr Marc Vedrines, marc.vedrines@insa-strasbourg.fr
Cable-Driven Parallel Robotics
Jacques Gangloff, jacques.gangloff@unistra.fr Loïc Cuvillon, l.cuvillon@unistra.fr Sylvain Durand, sdurand@unistra.fr Edouard Laroche, laroche@unistra.fr
One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the en-effector this robot to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the DexterWide ANR project. Drone propellers have been studied during the eVISER ANR project.
Aerial Manipulation
Jacques Gangloff, jacques.gangloff@unistra.fr Loïc Cuvillon, l.cuvillon@unistra.fr Sylvain Durand, sdurand@unistra.fr Adlane Habed, habed@unistra.fr
Active Markers
Christophe Doignon, c.doignon@unistra.fr
Knowledge/Vision Interaction
Adlane Habed, habed@unistra.fr