Couplage image-robot pour la curiethérapie de prostate

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Model based tracking control using Jerky behavior in platoon of vehicles

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Kinematic Calibration of a Multisection Bionic Manipulator

International audience—This paper deals with the forward kinematic calibration of a bionic arm inspired from the organic elephant trunk and called compact bionic handling assistant (CBHA). First, a forward kinematic model is developed based on the principle of the constant curvature continuum robot theory. Then, two experimental setups are proposed in order to carry out the model calibration and validation. The first one is based on the trilateration method, while the second one is based on the coupling of the CBHA with a rigid six-degree-of-freedom rigid manipulator. The aim of the calibration is to enhance the precision of the forward kinematic model

Energy Planning for Unmanned Over-Actuated Road Vehicle

International audienceEnergy planning for unmanned road vehicles (URV)s is an important step for the management of the autonomous driving. This energy planning depends on the model for power consumption estimation related to URVs. Generally URVs are over-actuated, and this property leads to multiple kinematic configurations for driving. Consequently, it adds more constraints and more complexity for energy planning. In this paper, a Neuro-Fuzzy model is developed for power consumption estimation for different driving modes configurations of URV. Furthermore, a dynamic programming algorithm is applied to find the optimal velocity profile, and the optimal configuration mode in each segment of the road for an over-actuated URV called RobuCAR, used for experimental validation